Sensor calibration method and device and sensor installation device

Abstract

The embodiment of the invention provides a sensor calibration method and device and a device for installing a sensor, which can flexibly realize calibration of the sensor. The method comprises the steps that a first response signal, responding to an input signal, of a first sensor and a second response signal, responding to the input signal, of a sensor to be calibrated are obtained, and the amplitude and / or frequency of the input signal are / is adjustable; and calibrating the sensor to be calibrated according to the first response signal and the second response signal.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and in particular to a sensor calibration method and device, and a sensor installation device. Background Art

[0002] Energy conservation and emission reduction are the key to the sustainable development of the automobile industry. In this case, electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages of energy conservation and environmental protection. For electric vehicles, battery technology is an important factor in their development.

[0003] Usually, a piezoelectric sensor can be set in the battery. When the battery is hit, the impact of the battery can be judged according to the response signal of the piezoelectric sensor, so that an impact warning can be issued to reduce the risk of battery damage caused by the impact. Accurate judgment of the battery impact situation requires accurate calibration of the piezoelectric sensor. Therefore, how to accurately calibrate the piezoelectric sensor has become one of the problems to be solved. Summary of the invention

[0004] The embodiments of the present application provide a sensor calibration method, a sensor calibration device, and a sensor installation device, which can flexibly implement sensor calibration.

[0005] In a first aspect, a method for sensor calibration is provided, the method comprising: obtaining a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable; and calibrating the sensor to be calibrated according to the first response signal and the second response signal.

[0006] In the embodiments of the present application, on the one hand, the sensor to be calibrated is calibrated according to the first response signal of the first sensor in response to the input signal and the second response signal of the sensor to be calibrated, thereby realizing efficient and automated calibration of the sensor to be calibrated; on the other hand, the amplitude and / or frequency of the input signal for stimulating the first sensor and the sensor to be calibrated are adjustable, that is, the input signal is dynamic, so that the sensor to be calibrated can be calibrated more flexibly, effectively improving the diversity of application scenarios.

[0007] In some possible implementations, calibrating the sensor to be calibrated based on the first response signal and the second response signal includes: determining a first peak signal and a second peak signal based on the first response signal and the second response signal, the first peak signal being the peak signal of the first response signal in the time domain, and the second peak signal being the peak signal of the second response signal in the time domain; and calibrating the sensor to be calibrated based on the first peak signal and the second peak signal.

[0008] The above technical solution calibrates the sensor to be calibrated by using the peak signals of the first response signal and the second response signal in the time domain respectively. This is not only easy to implement, but also has a high accuracy rate in calibrating the sensor to be calibrated.

[0009] In some possible implementations, the amplitude of the input signal changes linearly, the number of the first peak signals is multiple, and the number of the second peak signals is multiple; calibrating the sensor to be calibrated based on the first peak signal and the second peak signal includes: calibrating the sensor to be calibrated based on multiple first peak signals and multiple second peak signals.

[0010] The above technical solution calibrates the sensor to be calibrated by using the peak signals of multiple first response signals and second response signals in the time domain, that is, calibrates the sensor to be calibrated according to more parameters, which can effectively improve the accuracy and universality of the calibration results.

[0011] In some possible implementations, calibrating the sensor to be calibrated based on the first peak signal and the second peak signal includes: performing linear fitting on the first peak signal and the second peak signal to obtain a first function; and calibrating the sensor to be calibrated based on the slope of the first function.

[0012] The above technical solution performs linear fitting on the first peak signal and the second peak signal, and calibrates the sensor to be calibrated according to the obtained slope. The operation is simple, and the calibration accuracy is effectively improved while reducing the calibration complexity.

[0013] In some possible implementations, the method further includes: determining whether the calibration system is qualified; obtaining a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated includes: obtaining the first response signal and the second response signal through the calibration system; calibrating the sensor to be calibrated according to the first response signal and the second response signal includes: calibrating the sensor to be calibrated according to the first response signal and the second response signal when the calibration system is qualified.

[0014] The above technical solution determines whether the calibration system is qualified when the sensor to be calibrated is calibrated by the calibration system. For example, whether the calibration system is qualified can be determined before the sensor to be calibrated is calibrated, which can effectively reduce the adverse effect of the calibration system on the calibration result. For example, if the sensor to be calibrated is calibrated in an unqualified calibration system, if it is not determined whether the calibration system is qualified, it may happen that the sensor to be calibrated is qualified but the final result shows that the sensor to be calibrated is unqualified, or it may happen that the sensor to be calibrated is unqualified but the final result shows that the sensor to be calibrated is qualified.

[0015] In some possible implementations, determining whether the calibration system is qualified includes: determining whether the calibration system is qualified based on a frequency domain signal of the first response signal and / or a frequency domain signal of the second response signal.

[0016] In the above technical scheme, since the frequency domain signals of the first response signal and the second response signal are relatively easy to extract, whether the calibration system is qualified is determined based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal, which can effectively reduce the complexity of the operation and thus improve the efficiency of calibrating the sensor to be calibrated.

[0017] In some possible implementations, the input signal includes a swept frequency signal, and determining whether the calibration system is qualified based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal includes: obtaining a third peak signal and / or a fourth peak signal, the third peak signal being the peak signal of the first response signal in the frequency domain under the excitation of the swept frequency signal, and the fourth peak signal being the peak signal of the second response signal in the frequency domain under the excitation of the swept frequency signal; and determining whether the calibration system is qualified based on the third peak signal and / or the fourth peak signal.

[0018] The above technical solution calibrates the sensor to be calibrated by using the peak signals of the first response signal and the second response signal in the frequency domain respectively. This is not only easy to implement, but also has a high accuracy rate in determining the calibration system.

[0019] In some possible implementations, determining whether the calibration system is qualified based on the third peak signal and / or the fourth peak signal includes: within the target frequency range, and when the third peak signal and / or the fourth peak signal exceeds a preset peak range, determining that the calibration system is unqualified; within the target frequency range, and when the third peak signal and the fourth peak signal do not exceed the preset peak range, determining that the calibration system is qualified.

[0020] The above technical solution determines whether the calibration system is qualified based on whether the third peak signal and / or the fourth peak signal exceeds the preset peak range within the target frequency range, that is, determines whether the calibration system is qualified based on whether the third peak signal and / or the fourth peak signal resonates within the target frequency range. This is not only easy to implement but also has a high accuracy rate.

[0021] In some possible implementations, the method further includes: determining consistency of qualified target sensors among the sensors to be calibrated, wherein there are multiple target sensors.

[0022] Because sensors of the same batch are usually required to have a high consistency, only in this way will sensors of the batch be allowed to leave the factory. In the above technical solution, when there are multiple qualified target sensors in the sensors to be calibrated, the consistency of the multiple target sensors is also determined, that is, whether the multiple target sensors meet the factory requirements, thereby improving the performance of the sensors leaving the factory, such as reliability.

[0023] In some possible implementations, determining the consistency of the qualified target sensors among the sensors to be calibrated includes: obtaining a mean and a standard deviation of the target sensors; determining a dispersion coefficient of the target sensor based on the mean and the standard deviation; determining that the consistency of the target sensor meets the requirement when the dispersion coefficient is less than or equal to a dispersion coefficient threshold; and determining that the consistency of the target sensor does not meet the requirement when the dispersion coefficient is greater than the dispersion coefficient threshold.

[0024] The above technical solution determines whether the consistency of the target sensor meets the requirements through the mean and standard deviation of the target sensor, which is not only easy to implement but also has a high accuracy rate.

[0025] In some possible implementations, the first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

[0026] In some possible implementations, the input signal includes an output signal of an exciter.

[0027] The above technical solution outputs signals to the first sensor and the sensor to be calibrated through the vibration exciter. On the one hand, it can effectively realize the dynamic loading of the input signal, and on the other hand, it has low cost.

[0028] In a second aspect, a sensor calibration device is provided, comprising: an acquisition unit, used to acquire a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable; and a calibration unit, used to calibrate the sensor to be calibrated according to the first response signal and the second response signal.

[0029] In some possible implementations, the calibration unit can be specifically used to: determine a first peak signal and a second peak signal based on the first response signal and the second response signal, the first peak signal being the peak signal of the first response signal in the time domain, and the second peak signal being the peak signal of the second response signal in the time domain; and calibrate the sensor to be calibrated based on the first peak signal and the second peak signal.

[0030] In some possible implementations, the amplitude of the input signal changes linearly, the number of the first peak signals is multiple, and the number of the second peak signals is multiple; the calibration unit can be specifically used to calibrate the sensor to be calibrated according to multiple first peak signals and multiple second peak signals.

[0031] In some possible implementations, the calibration unit may be specifically configured to: perform linear fitting on the first peak signal and the second peak signal to obtain a first function; and calibrate the sensor to be calibrated according to the slope of the first function.

[0032] In some possible implementations, the device also includes: a determination unit, used to determine whether the calibration system is qualified; the acquisition unit is specifically used to: acquire the first response signal and the second response signal through the calibration system; the calibration unit can be specifically used to: when the calibration system is qualified, calibrate the sensor to be calibrated according to the first response signal and the second response signal.

[0033] In some possible implementations, the determination unit is specifically used to determine whether the calibration system is qualified according to a frequency domain signal of the first response signal and / or a frequency domain signal of the second response signal.

[0034] In some possible implementations, the input signal includes a swept frequency signal, and the acquisition unit is specifically used to: acquire a third peak signal and / or a fourth peak signal, the third peak signal being a peak signal of the first response signal in the frequency domain under the excitation of the swept frequency signal, and the fourth peak signal being a peak signal of the second response signal in the frequency domain under the excitation of the swept frequency signal; the determination unit is specifically used to determine whether the calibration system is qualified based on the third peak signal and / or the fourth peak signal.

[0035] In some possible implementations, the determination unit is specifically used to: determine that the calibration system is unqualified within the target frequency range and when the third peak signal and / or the fourth peak signal exceeds a preset peak range; and determine that the calibration system is qualified within the target frequency range and when the third peak signal and the fourth peak signal do not exceed the preset peak range.

[0036] In some possible implementations, the device further includes: a determination unit, configured to determine consistency of qualified target sensors among the sensors to be calibrated, wherein the number of the target sensors is multiple.

[0037] In some possible implementations, the acquisition unit is further used to: acquire a mean and a standard deviation of the target sensor; the determination unit is specifically used to: determine a dispersion coefficient of the target sensor based on the mean and the standard deviation; when the dispersion coefficient is less than or equal to a dispersion coefficient threshold, determine that the consistency of the target sensor meets the requirements; when the dispersion coefficient is greater than the dispersion coefficient threshold, determine that the consistency of the target sensor does not meet the requirements.

[0038] In some possible implementations, the first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

[0039] In some possible implementations, the input signal includes an output signal of an exciter.

[0040] According to a third aspect, a sensor calibration device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call the computer program to execute the method in the first aspect or its various implementations.

[0041] In a fourth aspect, a device for installing a sensor is provided, comprising: a mounting member, on which a sensor to be calibrated is arranged; a supporting member, on which a first sensor is arranged on a side of the supporting member away from the sensor to be calibrated; an input signal generating unit, for generating an input signal with adjustable amplitude and / or frequency, and loading the input signal onto the sensor to be calibrated and the first sensor, so that the first sensor generates a first response signal and the sensor to be calibrated generates a second response signal; wherein the first response signal and the second response signal are used to calibrate the sensor to be calibrated.

[0042] In some possible implementations, the input signal generating unit includes an exciter, which generates an excitation force by moving in a direction away from the sensor to be calibrated and in a direction toward the sensor to be calibrated, and loads the excitation force onto the first sensor and the sensor to be calibrated.

[0043] In some possible implementations, the device further includes: a loading member connected to the input signal generating unit and disposed between the input signal generating unit and the mounting member, for loading the input signal to the mounting member under the drive of the input signal generating unit.

[0044] In some possible implementations, the loading element is circular in shape.

[0045] In some possible implementations, the device further includes a bracket and an anti-vibration adjustment member; wherein the input signal generating unit is disposed on the bracket, and the anti-vibration adjustment member is disposed on the outside of the bracket.

[0046] In some possible implementations, the first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

[0047] In a fifth aspect, a computer-readable storage medium is provided for storing a computer program, wherein the computer program enables a computer to execute the method in the above-mentioned first aspect or its various implementations. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the drawings without paying creative work.

[0049] In the drawings, the drawings are not drawn to scale.

[0050] Figure 1 It is a schematic flow chart of a sensor calibration method according to an embodiment of the present application.

[0051] FIG. 2( a ) is a schematic diagram of an input signal according to an embodiment of the present application.

[0052] FIG. 2( b ) is a schematic diagram of another input signal according to an embodiment of the present application.

[0053] FIG. 2( c ) is a schematic diagram of yet another input signal according to an embodiment of the present application.

[0054] Figure 3 It is a schematic block diagram of a calibration system according to an embodiment of the present application.

[0055] Figure 4 It is a schematic diagram of the calibration coefficients of multiple piezoelectric sensors according to the embodiments of the present application.

[0056] Figure 5 It is a schematic diagram of the first response signal and the second response signal after preprocessing in an embodiment of the present application.

[0057] Figure 6 It is a schematic diagram of the first function of an embodiment of the present application.

[0058] Figure 7 It is a schematic diagram of a frequency sweep signal according to an embodiment of the present application.

[0059] Figure 8 It is a schematic diagram of the third peak signal of an embodiment of the present application.

[0060] Fig. 9 It is a schematic diagram of the fourth peak signal of an embodiment of the present application.

[0061] Fig.10 It is a schematic block diagram of a sensor calibration device according to an embodiment of the present application.

[0062] Fig.11 It is a schematic block diagram of another sensor calibration device according to an embodiment of the present application.

[0063] Fig.12 It is a schematic diagram of the device for installing a sensor according to an embodiment of the present application before assembly.

[0064] Fig.13 It is a schematic diagram of the device for installing a sensor after assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0066] In the description of this application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating directions or positional relationships, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting this application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0067] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0068] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0069] With the development of new energy technologies, the application fields of batteries are becoming more and more extensive. For example, batteries can be used as the main power source for electrical devices (such as vehicles, ships or spacecraft, etc.). It should be understood that the battery mentioned in the embodiments of the present application refers to a single physical module including one or more battery cells to provide higher voltage and capacity.

[0070] Optionally, the battery can be a power battery. In terms of the type of battery, the battery can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cathode battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., which is not specifically limited in the embodiments of the present application. In terms of battery size, the battery in the embodiments of the present application can be a battery cell / battery monomer, or a battery module or a battery pack, which is not specifically limited in the embodiments of the present application.

[0071] Normally, the impact detection of the battery can be performed by sensors. For example, a piezoelectric sensor can be set in the battery. When the battery collides, the impact of the battery can be judged according to the response signal of the piezoelectric sensor. Specifically, if the impact force is large, the piezoelectric sensor converts the impact force into a large electrical signal. When the electrical signal exceeds the set voltage threshold, the system will send an alarm signal.

[0072] However, the manufacturing precision of piezoelectric sensors is generally not very high, and the volatility is large, which may cause over-alarm or under-alarm. That is, the impact force is large, but after the piezoelectric sensor converts the impact force into an electrical signal, the electrical signal is small, resulting in a situation where an alarm should not be given but is not given; or, the impact force is small, but after the piezoelectric sensor converts the impact force into an electrical signal, the electrical signal is large, resulting in a situation where an alarm should not be given but is given.

[0073] Based on this, an embodiment of the present application provides a method for sensor calibration, by obtaining a first response signal of a first sensor that responds to an input signal and a second response signal of a sensor to be calibrated, and calibrating the sensor to be calibrated according to the first response signal and the second response signal. The amplitude and / or frequency of the input signal are adjustable. On the one hand, the sensor to be calibrated is calibrated according to the first response signal of the first sensor that responds to the input signal and the second response signal of the sensor to be calibrated, thereby realizing efficient and automated calibration of the sensor to be calibrated; on the other hand, the amplitude and / or frequency of the input signal used to excite the first sensor and the sensor to be calibrated are adjustable, that is, the input signal is dynamic, so that the sensor to be calibrated can be calibrated more flexibly, effectively improving the diversity of application scenarios.

[0074] Figure 1 FIG. 1 is a schematic flow chart of a sensor calibration method 100 according to an embodiment of the present application. Figure 1 As shown, method 100 may include at least part of the following contents.

[0075] S110: Acquire a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable.

[0076] S120: Marking the sensor to be marked according to the first response signal and the second response signal.

[0077] In the embodiments of the present application, on the one hand, the sensor to be calibrated is calibrated according to the first response signal of the first sensor in response to the input signal and the second response signal of the sensor to be calibrated, thereby realizing efficient and automated calibration of the sensor to be calibrated; on the other hand, the amplitude and / or frequency of the input signal for stimulating the first sensor and the sensor to be calibrated are adjustable, that is, the input signal is dynamic, so that the sensor to be calibrated can be calibrated more flexibly, effectively improving the diversity of application scenarios.

[0078] The sensor to be calibrated may include a piezoelectric sensor, and the second response signal may include an electrical response signal. Alternatively, the sensor to be calibrated may include an acceleration sensor. The first sensor may include a force sensor, and the first response signal may include a force response signal. For ease of description, the following text takes the example that the first sensor is a force sensor and the sensor to be calibrated is a piezoelectric sensor. However, it should be understood that the embodiments of the present application are not limited to this.

[0079] Calibration of a piezoelectric sensor can be understood as determining the correspondence between the input signal and the output signal of the piezoelectric sensor. By calibrating the piezoelectric sensor, the conversion efficiency of the piezoelectric sensor for converting mechanical vibration signals into electrical signals can be obtained. For example, the correspondence between the force signal input by the piezoelectric sensor and the voltage signal output by the piezoelectric sensor can be obtained.

[0080] like Figure 2(a)-Figure 2(c) As shown, the input signal can be a fixed frequency and fixed amplitude signal in FIG2(a), a fixed frequency and variable amplitude signal in FIG2(b), or a variable frequency and fixed amplitude signal in FIG2(c). In addition, the input signal can also be a fixed frequency step amplitude loading signal or a variable amplitude sweeping signal.

[0081] In some embodiments, method 100 may be performed by a marking system. In other words, S110 may specifically include: obtaining a first response signal and a second response signal by a calibration system; S120 may specifically include: marking the piezoelectric sensor according to the first response signal and the second response signal by a calibration system.

[0082] Figure 3 FIG. 3 shows a schematic diagram of the architecture of the calibration system 300. Figure 3 It can be seen that the calibration system 300 may include a control module 310 , a data acquisition module 320 , an input signal generation module 330 , a force sensor 340 and a piezoelectric sensor 350 .

[0083] The control module 310 may be configured with parameters required by the calibration system 300, including but not limited to excitation frequency (e.g., 150 Hz or 50-250 Hz scanning), excitation voltage (e.g., 2 V) or excitation force (e.g., 10 N), etc. For example, the excitation frequency, excitation voltage or excitation force mode may be a fixed frequency and fixed amplitude mode, a fixed frequency and linear amplitude mode, or a swept frequency and fixed amplitude mode, etc.

[0084] The control module 310 may send a control signal to the input signal generating module 330 . After receiving the control signal, the input signal generating module 330 may output a required input signal based on the control signal and send an input signal to the force sensor 340 and the piezoelectric sensor 350 .

[0085] Optionally, the input signal generating module 330 includes a device capable of realizing dynamic loading, such as an exciter. In this case, the input signal may be an exciting force. This technical solution outputs signals to the force sensor and the piezoelectric sensor through the exciter. On the one hand, it can effectively realize dynamic loading of the input signal, and on the other hand, it has a low cost.

[0086] After receiving the input signal, the force sensor 340 can output a first response signal, i.e., a force response signal, in response to the input signal. In other words, the force sensor 340 can output the force of the input signal generating module 330. Similarly, after receiving the input signal, the piezoelectric sensor can also output a second response signal, i.e., a piezoelectric response signal, in response to the input signal.

[0087] In some embodiments, the control module 310 may further set an acquisition frequency (e.g., 5000 Hz). The data acquisition module 320 may respectively acquire the first response signal and the second response signal based on the acquisition frequency sent by the control module 310. Optionally, the data acquisition module 320 may acquire the first response signal and the second response signal in real time, or may acquire the first response signal and the second response signal periodically, for example, acquiring the first response signal and the second response signal once every 5 ms.

[0088] Afterwards, the data acquisition module 320 may send the collected first response signal and the second response signal to the control module 310 , and the control module 310 calibrates the piezoelectric sensor 350 according to the first response signal and the second response signal.

[0089] In addition, the calibration system 300 may further include a power module 360 ​​. The power module 360 ​​may output voltages of different frequencies and amplitudes to the input signal generating module 330 according to the parameters of the excitation signal sent by the control system 310 .

[0090] The calibration system 300 may also include a trigger module 370, which may receive a control request sent by the control module 310 and convert it into a control signal for the input signal generating module 330 and the power supply module 360, thereby realizing the input signal required by the output of the input signal generating module 330, that is, the output required frequency and amplitude.

[0091] Furthermore, when there are multiple piezoelectric sensors to be calibrated, the control module 310 may be provided with serial numbers of multiple piezoelectric sensors.

[0092] It should be noted that the frequency range of the input signal should exceed the application frequency range of the piezoelectric sensor. For example, if the application frequency range of the piezoelectric sensor is 100 Hz-200 Hz, the frequency range of the input signal may be 50 Hz-250 Hz.

[0093] In order to eliminate the influence of zero drift and high-frequency noise and improve the clarity and accuracy of the first response signal and the second response signal, the first response signal and the second response signal may be preprocessed.

[0094] Specifically, the first response signal and the second response signal can be Fourier transformed to obtain signal frequencies, and then a specific frequency range of the spectrum can be windowed, and finally the processed spectrum can be inverse Fourier transformed to obtain the preprocessed first response signal and the second response signal.

[0095] In a possible embodiment, S120 may specifically include: determining a first peak signal and a second peak signal according to the first response signal and the second response signal, and calibrating the piezoelectric sensor according to the first peak signal and the second peak signal. The first peak signal is a peak signal of the first response signal in the time domain, and the second peak signal is a peak signal of the second response signal in the time domain.

[0096] This technical solution calibrates the piezoelectric sensor through the peak signals of the first response signal and the second response signal in the time domain, which is not only easy to implement but also has a high accuracy in calibrating the piezoelectric sensor.

[0097] Optionally, the first peak signal may be a peak signal of an envelope line. Similarly, the second peak signal may also be a peak signal of an envelope line.

[0098] As an example, a linear fit may be performed on the first peak signal and the second peak signal to obtain a first function, and the piezoelectric sensor may be calibrated according to the slope of the first function.

[0099] The above technical solution performs linear fitting on the first peak signal and the second peak signal, and calibrates the piezoelectric sensor according to the obtained slope. The operation is simple, and the calibration accuracy is effectively improved while reducing the calibration complexity.

[0100] For ease of description, the slope of the first function is referred to as a calibration coefficient in the present embodiment. The calibration coefficient is used to characterize the correspondence between the input signal and the output signal of the piezoelectric sensor. The larger the calibration coefficient of the piezoelectric sensor, the higher the conversion efficiency of the piezoelectric sensor in converting the vibration signal into the electrical signal; conversely, the conversion efficiency is lower.

[0101] Specifically, the first peak signal can be used as a reference (X-axis), the second peak signal can be peak-calibrated (Y-axis), and the slope obtained can be defined as a calibration coefficient through linear fitting of a linear function. Of course, the second peak signal can also be used as the X-axis and the first peak signal as the Y-axis, in which case the inverse of the slope can be defined as the calibration coefficient.

[0102] Furthermore, a calibration coefficient qualification parameter may be set in the control module 310. The calibration coefficient qualification parameter may be determined based on the expected use range of the piezoelectric sensor, the requirements of the application scenario, or the user's experience. For example, the calibration coefficient qualification parameter may range from 0.9 to 1.1.

[0103] If the calibration coefficient is within the calibration coefficient qualified parameter range, it can be determined that the piezoelectric sensor is qualified; if the calibration coefficient is outside the calibration coefficient qualified parameter range, it can be determined that the piezoelectric sensor is unqualified.

[0104] Figure 4 20 piezoelectric sensors to be calibrated are shown, where the calibration coefficient qualified parameters range from 0.9 to 1.1. Figure 4 It can be seen that the calibration coefficient of the 4th piezoelectric sensor is 0.8, and the calibration coefficient of the 17th piezoelectric sensor is 1.2. The calibration coefficients of these two piezoelectric sensors are not within the range of the calibration coefficient qualified parameters. The 4th piezoelectric sensor may cause the excitation force to be large, but the electrical signal obtained after the piezoelectric sensor converts it is small, and the situation that the alarm should be but is not alarmed occurs. The 17th sensor may cause the excitation force to be small, but the electrical signal obtained after the piezoelectric sensor converts it is large, and the situation that the alarm should not be alarmed occurs. Therefore, the 4th piezoelectric sensor and the 17th piezoelectric sensor are both unqualified, and the piezoelectric sensors other than these two piezoelectric sensors are qualified.

[0105] In order to improve the accuracy and universality of the calibration coefficients obtained, in some embodiments, the input signal can be set to a signal whose amplitude can change linearly, and each amplitude is excited for multiple cycles. Under this excitation, the force sensor outputs a first response signal, and the piezoelectric sensor outputs a second response signal. After preprocessing the first response signal and the second response signal of a single calibration, the first response signal and the second response signal can be as follows Figure 5 As shown. The solid line is the first response signal, and the dotted line is the second response signal. Figure 5 It can be seen that the number of first peak signals is multiple, and the number of second peak signals is multiple.

[0106] At this time, the piezoelectric sensor can be calibrated according to the multiple first peak signals and the multiple second peak signals. Specifically, the multiple first peak signals can be used as the reference (X axis), the multiple second peak signals can be peak-calibrated (Y axis), and then a linear fit of a function can be performed. The first function obtained is as follows: Figure 6 As shown, it can be seen that the slope of the first function is 1.2, which means that the piezoelectric sensor is unqualified.

[0107] Among them, a single calibration can be understood as: assuming that the input signal includes 4 amplitudes, namely 1V, 2V, 3V and 4V. For the first response signal responding to 1V, extract the peak signal of the first response signal N times, for the first response signal responding to 2V, extract the peak signal of the first response signal N times, for the first response signal responding to 3V, extract the peak signal of the first response signal N times, and for the first response signal responding to 4V, extract the peak signal of the first response signal N times. This whole process identifies a single calibration of the first response signal. Among them, N is an integer greater than or equal to 1, such as Figure 6 As shown, N=2. The whole process can be repeated M times, that is, M calibrations are performed. Wherein, M is an integer greater than or equal to 1, such as M=10.

[0108] After the calibration coefficient is determined, the piezoelectric sensor with abnormal calibration coefficient can be eliminated.

[0109] The above technical solution calibrates the piezoelectric sensor through the peak signals of multiple first response signals and second response signals in the time domain, that is, calibrates the piezoelectric sensor according to more parameters, which can effectively improve the accuracy and universality of the calibration results.

[0110] Generally, the consistency of qualified piezoelectric sensors in the same batch is required to be good. Therefore, in the embodiment of the present application, the method 100 may also include: determining the consistency of qualified target sensors in the piezoelectric sensors to be calibrated. There are multiple target sensors.

[0111] Because sensors of the same batch are usually required to have a high consistency, only in this way will the sensors of the batch be allowed to leave the factory. In the above technical solution, when there are multiple qualified target sensors in the piezoelectric sensors to be calibrated, the consistency of the multiple target sensors is also determined, that is, whether the multiple target sensors meet the factory requirements, thereby improving the performance of the sensors leaving the factory, such as reliability.

[0112] As an example, the mean and standard deviation of the target sensor can be obtained, and the dispersion coefficient of the target sensor can be determined based on the mean and standard deviation. If the dispersion coefficient is greater than a preset threshold, it can be considered that the consistency of multiple target sensors is low; if the dispersion coefficient is less than or equal to the preset threshold, it can be considered that the calibration system is qualified, the calibration system is highly stable, and the consistency and reliability of multiple target sensors are high, and the multiple target sensors can be allowed to be shipped in batches.

[0113] The preset threshold may be, but is not limited to, 10%.

[0114] For example, the dispersion coefficient can be calculated according to the following formula:

[0115]

[0116] Among them, C v is the discrete coefficient of multiple target sensors, σ is the standard deviation of the calibration coefficients of multiple target sensors, and μ is the mean of multiple target sensors.

[0117] When the discrete coefficient is greater than a preset threshold, abnormal target sensors among multiple target sensors can be eliminated, for example, target sensors with the largest and / or smallest calibration coefficients can be eliminated until the discrete coefficient is less than or equal to the preset threshold. At this time, it can be considered that the consistency of the remaining target sensors after elimination meets the requirements.

[0118] The above technical solution determines whether the consistency of the target sensor meets the requirements through the mean and standard deviation of the target sensor, which is not only easy to implement but also has a high accuracy rate.

[0119] In the case where the first response signal and the second response signal are obtained through the calibration system, further, method 100 may further include: determining whether the calibration system is qualified. In this case, S120 may specifically include: if the calibration system is qualified, calibrating the piezoelectric sensor according to the first response signal and the second response signal.

[0120] The above technical solution determines whether the calibration system is qualified when the piezoelectric sensor is calibrated by the calibration system. For example, whether the calibration system is qualified can be determined before the piezoelectric sensor is calibrated, which can effectively reduce the adverse effect of the calibration system on the calibration result. For example, if the piezoelectric sensor is calibrated in an unqualified calibration system and if the calibration system is not judged to be qualified, the piezoelectric sensor may be qualified but the final result may show that the piezoelectric sensor is unqualified, or the piezoelectric sensor may be unqualified but the final result may show that the piezoelectric sensor is qualified.

[0121] At this time, the control module 310 may also set a calibration coefficient qualification parameter. The calibration coefficient qualification parameter may also be understood as a target frequency range, that is, whether the calibration system is qualified within the target frequency range. The calibration coefficient qualification parameter may be determined based on the expected use range of the piezoelectric sensor, the requirements of the application scenario, or the user's experience. Exemplarily, the calibration coefficient qualification parameter may include 100Hz-150Hz.

[0122] Optionally, whether the calibration system is qualified may be determined each time the piezoelectric sensor is calibrated.

[0123] Optionally, the calibration system may be tested regularly to determine whether the calibration system is qualified. For example, the calibration system may be tested once after the piezoelectric sensor is calibrated five times.

[0124] Optionally, the calibration system may be tested only once, and if it is determined that the calibration system is qualified, it may be assumed that the calibration system is qualified when the piezoelectric sensors are subsequently calibrated.

[0125] In a possible implementation, whether the calibration system is qualified may be determined based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal.

[0126] In the above technical scheme, since the frequency domain signals of the first response signal and the second response signal are relatively easy to extract, determining whether the calibration system is qualified based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal can effectively reduce the complexity of the operation and thus improve the efficiency of calibrating the piezoelectric sensor.

[0127] When determining whether the calibration system is qualified based on the frequency domain signal of the first response signal and the frequency domain signal of the second response signal, exemplarily, whether the calibration system is qualified can be determined based on the ratio between the frequency domain signal of the first response signal and the frequency domain signal of the second response signal.

[0128] In the embodiment of the present application, the input signal may include Figure 7At this time, as an example, determining whether the calibration system is qualified according to the frequency signal of the first response signal and / or the frequency domain signal of the second response signal may include: obtaining a third peak signal and / or a fourth peak signal, and determining whether the calibration system is qualified according to the third peak signal and / or the fourth peak signal. The third peak signal is the peak signal of the first response signal in the frequency domain under the excitation of the sweep signal, such as Figure 8 As shown; the fourth peak signal is the peak signal of the second response signal in the frequency domain under the excitation of the sweep signal, such as Fig. 9 shown.

[0129] The above technical solution calibrates the piezoelectric sensor through the peak signals of the first response signal and the second response signal in the frequency domain, which is not only easy to implement but also has a high accuracy rate in determining the calibration system.

[0130] Specifically, within the target frequency range, if the third peak signal and / or the fourth peak signal exceeds the preset peak range, it can be determined that the calibration system is unqualified. Alternatively, within the target frequency range, if the third peak signal and the fourth peak signal do not exceed the preset peak range, it can be determined that the calibration system is qualified.

[0131] In other words, if the third peak signal and / or the fourth peak signal resonates within the target frequency range, it can be determined that the calibration system is unqualified; if the third peak signal and the fourth peak signal do not resonate within the target frequency range, it can be determined that the calibration system is qualified.

[0132] Reference again Figure 8 and Fig. 9 , the target frequency range is 100Hz-150Hz, Figure 8 The solid line in is the third peak signal, Fig. 9 The solid line in is the fourth peak signal, and the dotted line is the upper and lower limits of the preset peak range within the target frequency range of 100Hz-150Hz, which can also be understood as a tolerance band. Figure 8 It can be seen from the figure that the third peak signal is within the preset peak range, and Fig. 9 It can be seen from the figure that the fourth peak signal is also within the preset peak range, so it can be determined that the calibration system is qualified.

[0133] The above technical solution determines whether the calibration system is qualified based on whether the third peak signal and / or the fourth peak signal exceeds the preset peak range within the target frequency range, that is, determines whether the calibration system is qualified based on whether the third peak signal and / or the fourth peak signal resonates within the target frequency range. This is not only easy to implement but also has a high accuracy rate.

[0134] If the calibration system is unqualified, the calibration system can be adjusted.

[0135] Furthermore, the calibration system may further include a sensor installation device, which is used to fix and install the input signal generating module 330, the force sensor 340 and the piezoelectric sensor 350. The sensor installation device will be described in detail later, and will not be described in detail here. Optionally, when the calibration system is unqualified, the sensor installation device can be adjusted.

[0136] In the embodiments of the present application, the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0137] Furthermore, under the premise of no conflict, the various embodiments and / or the technical features in the various embodiments described in the present application may be arbitrarily combined with each other, and the technical solutions obtained after the combination shall also fall within the protection scope of the present application.

[0138] The sensor calibration method of the embodiment of the present application is described in detail above, and the sensor calibration device of the embodiment of the present application will be described below. It should be understood that the sensor calibration device in the embodiment of the present application can execute the sensor calibration method in the embodiment of the present application.

[0139] Fig.10 FIG. 4 is a schematic block diagram of a sensor calibration device 400 according to an embodiment of the present application. Fig.10 As shown, the sensor calibration device 400 may include:

[0140] The acquisition unit 410 is used to acquire a first response signal of the first sensor in response to the input signal and a second response signal of the sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable.

[0141] The calibration unit 420 is used to calibrate the sensor to be calibrated according to the first response signal and the second response signal.

[0142] Optionally, in an embodiment of the present application, the calibration unit 420 can be specifically used to: determine a first peak signal and a second peak signal based on the first response signal and the second response signal, the first peak signal being the peak signal of the first response signal in the time domain, and the second peak signal being the peak signal of the second response signal in the time domain; and calibrate the sensor to be calibrated based on the first peak signal and the second peak signal.

[0143] Optionally, in an embodiment of the present application, the amplitude of the input signal changes linearly, the number of first peak signals is multiple, and the number of second peak signals is multiple; the calibration unit 420 can be specifically used to calibrate the sensor to be calibrated according to multiple first peak signals and multiple second peak signals.

[0144] Optionally, in the embodiment of the present application, the calibration unit 420 can be specifically used to: perform linear fitting on the first peak signal and the second peak signal to obtain a first function; and calibrate the sensor to be calibrated according to the slope of the first function.

[0145] Optionally, in an embodiment of the present application, the sensor calibration device 400 also includes: a determination unit for determining whether the calibration system is qualified; an acquisition unit 410 is specifically used to: acquire a first response signal and a second response signal through the calibration system; the calibration unit 420 can be specifically used to: when the calibration system is qualified, calibrate the sensor to be calibrated according to the first response signal and the second response signal.

[0146] Optionally, in an embodiment of the present application, the determination unit is specifically used to determine whether the calibration system is qualified according to a frequency domain signal of the first response signal and / or a frequency domain signal of the second response signal.

[0147] Optionally, in an embodiment of the present application, the input signal includes a swept frequency signal, and the acquisition unit 410 is specifically used to: obtain a third peak signal and / or a fourth peak signal, the third peak signal being a peak signal of the first response signal in the frequency domain under the excitation of the swept frequency signal, and the fourth peak signal being a peak signal of the second response signal in the frequency domain under the excitation of the swept frequency signal; the determination unit is specifically used to determine whether the calibration system is qualified based on the third peak signal and / or the fourth peak signal.

[0148] Optionally, in an embodiment of the present application, the determination unit is specifically used to: determine that the calibration system is unqualified within the target frequency range and when the third peak signal and / or the fourth peak signal exceeds a preset peak range; determine that the calibration system is qualified within the target frequency range and when the third peak signal and the fourth peak signal do not exceed the preset peak range.

[0149] Optionally, in the embodiment of the present application, the sensor calibration apparatus 400 further includes: a determination unit, configured to determine the consistency of qualified target sensors among the sensors to be calibrated, wherein the number of the target sensors is multiple.

[0150] Optionally, in an embodiment of the present application, the acquisition unit 410 is further used to: acquire a mean and a standard deviation of the target sensor; the determination unit is specifically used to: determine a dispersion coefficient of the target sensor based on the mean and the standard deviation; when the dispersion coefficient is less than or equal to a dispersion coefficient threshold, determine that the consistency of the target sensor meets the requirements; when the dispersion coefficient is greater than the dispersion coefficient threshold, determine that the consistency of the target sensor does not meet the requirements.

[0151] Optionally, in an embodiment of the present application, the first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

[0152] Optionally, in an embodiment of the present application, the input signal includes an output signal of an exciter.

[0153] It should be understood that the sensor calibration device 400 can implement the corresponding operations in the method 100, which will not be described in detail here for the sake of brevity.

[0154] Fig.11 Schematic diagram of the hardware structure of the sensor calibration device 500 of the embodiment of the present application. The sensor calibration device 500 includes a memory 501, a processor 502, a communication interface 503 and a bus 504. The memory 501, the processor 502 and the communication interface 503 are connected to each other through the bus 504.

[0155] The memory 501 may be a read-only memory (ROM), a static storage device, and a random access memory (RAM). The memory 501 may store a program. When the program stored in the memory 501 is executed by the processor 502, the processor 502 and the communication interface 503 are used to execute the various steps of the sensor calibration method of the embodiment of the present application.

[0156] The processor 502 can adopt a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits to execute relevant programs to implement the functions required to be performed by the units in the device of the embodiment of the present application, or to execute the sensor calibration method of the embodiment of the present application.

[0157] The processor 502 may also be an integrated circuit chip with signal processing capability. In the implementation process, each step of the sensor calibration method of the embodiment of the present application may be completed by an integrated logic circuit of hardware in the processor 502 or by instructions in the form of software.

[0158] The processor 502 may also be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application may be directly embodied as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 501, and the processor 502 reads the information in the memory 501, and completes the functions required to be performed by the units included in the sensor calibration device 500 of the embodiment of the present application in combination with its hardware, or executes the sensor calibration method of the embodiment of the present application.

[0159] The communication interface 503 uses a transceiver device such as, but not limited to, a transceiver to implement communication between the sensor calibration apparatus 500 and other devices or a communication network.

[0160] The bus 504 may include a path for transmitting information between various components of the sensor calibration apparatus 500 (eg, the memory 501 , the processor 502 , and the communication interface 503 ).

[0161] It should be noted that although the above-mentioned sensor calibration device 500 only shows a memory, a processor, and a communication interface, in the specific implementation process, those skilled in the art should understand that the sensor calibration device 500 may also include other devices necessary for normal operation. At the same time, according to specific needs, those skilled in the art should understand that the sensor calibration device 500 may also include hardware devices for implementing other additional functions. In addition, those skilled in the art should understand that the sensor calibration device 500 may also only include the devices necessary to implement the embodiments of the present application, and does not necessarily include Fig.11 All devices shown in .

[0162] like Fig.12 and Fig.13As shown, the embodiment of the present application also provides a device 600 for installing a sensor. Fig.12 is a schematic structural diagram of the device 600 before assembly. Fig.13 It is a schematic structural diagram after assembly.

[0163] like Fig.12 and Fig.13 As shown, the device 600 may include a mounting member 610, a supporting member 620, and an input signal generating unit 630. A sensor 640 to be calibrated is disposed on the mounting member 610, and a first sensor 650 is disposed on the side of the supporting member 620 away from the sensor 640 to be calibrated. The input signal generating unit 630 is used to generate an input signal with adjustable amplitude and / or frequency, and load the input signal to the sensor 640 to be calibrated and the first sensor 650, so that the first sensor 650 generates a first response signal and the sensor 640 to be calibrated generates a second response signal, and the first response signal and the second response signal are used to calibrate the sensor 640 to be calibrated.

[0164] Optionally, the support member 620 may be a U-shaped bracket. It should be understood that the support member 620 may not only be provided with the first sensor 650 , but also provide support for the mounting member 610 .

[0165] Optionally, the first sensor 650 may include a force sensor, in which case the first response signal may include a force response signal; the sensor to be calibrated 640 may include a piezoelectric sensor, in which case the second response signal may include a piezoelectric response signal.

[0166] In some embodiments, the input signal generating unit 630 may include an exciter, which may generate an exciting force by moving in a direction away from the sensor to be calibrated 640 and in a direction toward the sensor to be calibrated 640, and load the exciting force onto the first sensor 650 and the sensor to be calibrated 640.

[0167] That is, the vibrator can move up and down to load the first sensor 650 and the sensor to be calibrated 640 up and down. It should be noted that "up" here is the same direction as the direction of gravity, and "down" is the opposite direction to the direction of gravity.

[0168] In some embodiments, the device 600 may further include a loader 660 , which is connected to the input signal generating unit 630 and disposed between the input signal generating unit 630 and the mounting member 610 , and is used to load the input signal to the mounting member 610 under the drive of the input signal generating unit 630 .

[0169] The loading member 660 may have different hardness, different radius and different height to adapt to different application scenarios. For example, to adapt to different sensors and / or fixtures. The loading member 660 may be used to adjust the distance and contact stiffness between the input signal generating unit 630 and the mounting member 610. The parameters of the control module in the above content may be adjusted by adjusting the parameters of the loading member 660.

[0170] Optionally, continue to refer to Fig.12 and Fig.13 , the shape of the loading member 660 can be circular.

[0171] The shape of the loading member 660 is set to be circular, so that when the loading member 660 loads the input signal to the mounting member 610, the input signal can always be loaded based on the same position of the mounting member 610, and the consistency is good. And when the input signal is loaded to the mounting member 610, the mounting member 610 can be easily deformed, so that the first response signal and the second response signal can be effectively generated. Further, the shape of the loading member 660 is set to be circular. Since the device 600 can be rigidly connected, the stiffness of the device 600 can be adjusted through the loading member 660, and the stiffness can affect the frequency of the calibration system.

[0172] Optionally, the device 600 may further include a bracket 670 and an anti-vibration adjustment member 680 , wherein the input signal generating unit 630 may be disposed on the bracket 670 , and the anti-vibration adjustment member 680 may be disposed outside the bracket 670 .

[0173] The anti-vibration adjustment member 680 is arranged on the outside of the bracket 670, so as to isolate the vibration interference between the outside world and the device 600, for example, it can reduce the impact of the bottom surface on the input signal generating unit 630, reduce the interference signal of the entire system, and thus effectively improve the accuracy of the calibration of the sensor 640 to be calibrated.

[0174] In addition to being used to install the input signal generating unit 630 , the bracket 670 can also be used to install and position other components in the device 600 .

[0175] Other components in the device 600 may include a first nut 690, a screw 6100, and a second nut 6110. The first nut 690 may be used to fasten the connection between the screw 6100 and the first sensor 650. The screw 6100 may be threadedly connected to the bracket 670 to adjust other parameters such as height. The second nut 6110 may be used to fasten the bracket 670, the input signal generating unit 630, and the anti-vibration adjusting member 680.

[0176] The assembly process of the device 600 will be described below.

[0177] First, the bracket 670 , the input signal generating unit 630 and the anti-vibration adjusting member 680 are fastened and connected by the second nut 6110 .

[0178] Next, the screw 6100 is fixed to the bracket 670, and two first nuts 690 are assembled to the screw 6100. Then, the first sensor 650 is assembled to the screw 6100, and the support member 620 is fixed to the first sensor 650, thereby completing the assembly of the first sensor 650 and the support member 620.

[0179] Furthermore, the indication of the first sensor 650 can be cleared. In this way, during the sensor calibration process, the indication on the first sensor 650 is the value of the input signal actually received by the first sensor 650, thereby improving the accuracy of the sensor calibration.

[0180] Afterwards, a suitable loading component 660 is selected and the selected loading component 660 is assembled onto the input signal generating unit 630 .

[0181] Then, the sensor to be calibrated is assembled on the mounting member 610. For example, the sensor to be calibrated can be assembled on the mounting member 610 by bolts or structural adhesive.

[0182] Then, the loading member 660 is pressed downward to assemble the mounting member 610 onto the supporting member 620, and then the loading member 660 is released, and the mechanical assembly process is completed. Among them, the mounting member 610 can be directly inserted into the supporting member 620 without the need for parts such as locks, thereby achieving the purpose of quickly installing the sensor.

[0183] Finally, the height is adjusted. Specifically, the depth of the screw 6100 and the first sensor 650 can be adjusted to ensure that the indication of the first sensor 650 is greater than or equal to the threshold before the sensor to be calibrated is calibrated, and to ensure that there is no looseness between the loading member 660 and the mounting member 610 during the calibration process. Then, the connection between one of the first nuts 690 and the first sensor 650 is locked up and down, and the connection between the other nut of the first nut 690 and the bracket 670 is locked, so as to achieve height locking.

[0184] The embodiments of the present application also provide a computer-readable storage medium for storing a computer program, wherein the computer program is used to execute the methods of the various embodiments of the present application described above.

[0185] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0186] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the above-mentioned sensor calibration method.

[0187] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A sensor calibration method, characterized in that: The method comprises: Acquire a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable; The sensor to be calibrated is calibrated according to the first response signal and the second response signal.

2. The method according to claim 1, characterized in that The step of calibrating the sensor to be calibrated according to the first response signal and the second response signal includes: Determine a first peak signal and a second peak signal according to the first response signal and the second response signal, wherein the first peak signal is a peak signal of the first response signal in the time domain, and the second peak signal is a peak signal of the second response signal in the time domain; The sensor to be calibrated is calibrated according to the first peak signal and the second peak signal.

3. The method according to claim 2, characterized in that The amplitude of the input signal changes linearly, the number of the first peak signals is multiple, and the number of the second peak signals is multiple; The step of calibrating the sensor to be calibrated according to the first peak signal and the second peak signal includes: The sensor to be calibrated is calibrated according to the plurality of first peak signals and the plurality of second peak signals.

4. The method according to claim 2 or 3, characterized in that: The step of calibrating the sensor to be calibrated according to the first peak signal and the second peak signal includes: Performing linear fitting on the first peak signal and the second peak signal to obtain a first function; The sensor to be calibrated is calibrated according to the slope of the first function.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: Determine whether the calibration system is qualified; The step of obtaining a first response signal of a first sensor in response to an input signal and a second response signal of a sensor to be calibrated comprises: Acquiring the first response signal and the second response signal through the calibration system; The step of calibrating the sensor to be calibrated according to the first response signal and the second response signal includes: When the calibration system is qualified, the sensor to be calibrated is calibrated according to the first response signal and the second response signal.

6. The method according to claim 5, characterized in that The step of determining whether the calibration system is qualified comprises: Whether the calibration system is qualified is determined based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal.

7. The method according to claim 6, characterized in that The input signal includes a frequency sweep signal, and determining whether the calibration system is qualified according to the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal includes: Acquire a third peak signal and / or a fourth peak signal, wherein the third peak signal is a peak signal of the first response signal in the frequency domain under the excitation of the frequency sweep signal, and the fourth peak signal is a peak signal of the second response signal in the frequency domain under the excitation of the frequency sweep signal; Whether the calibration system is qualified is determined according to the third peak signal and / or the fourth peak signal.

8. The method according to claim 7, characterized in that Determining whether the calibration system is qualified according to the third peak signal and / or the fourth peak signal includes: In the target frequency range, when the third peak signal and / or the fourth peak signal exceeds a preset peak range, determining that the calibration system is unqualified; Within the target frequency range, and when the third peak signal and the fourth peak signal do not exceed the preset peak range, it is determined that the calibration system is qualified.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: Determine the consistency of qualified target sensors among the sensors to be calibrated, wherein the number of the target sensors is multiple.

10. The method according to claim 9, characterized in that The determining the consistency of the qualified target sensors among the sensors to be calibrated includes: Obtaining the mean and standard deviation of the target sensor; Determining a coefficient of dispersion of the target sensor according to the mean and the standard deviation; When the discrete coefficient is less than or equal to the discrete coefficient threshold, determining that the consistency of the target sensor meets the requirement; When the dispersion coefficient is greater than the dispersion coefficient threshold, it is determined that the consistency of the target sensor does not meet the requirement.

11. The method according to any one of claims 1 to 10, characterized in that The first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

12. The method according to any one of claims 1 to 11, characterized in that The input signal includes an output signal of an exciter.

13. A sensor calibration device, characterized in that: include: an acquisition unit, configured to acquire a first response signal of the first sensor in response to the input signal and a second response signal of the sensor to be calibrated, wherein the amplitude and / or frequency of the input signal is adjustable; A calibration unit is used to calibrate the sensor to be calibrated according to the first response signal and the second response signal.

14. The device according to claim 13, characterized in that The calibration unit can be specifically used for: Determine a first peak signal and a second peak signal according to the first response signal and the second response signal, wherein the first peak signal is a peak signal of the first response signal in the time domain, and the second peak signal is a peak signal of the second response signal in the time domain; The sensor to be calibrated is calibrated according to the first peak signal and the second peak signal.

15. The device according to claim 14, characterized in that The amplitude of the input signal changes linearly, the number of the first peak signals is multiple, and the number of the second peak signals is multiple; The calibration unit can be specifically used for: The sensor to be calibrated is calibrated according to the plurality of first peak signals and the plurality of second peak signals.

16. The device according to claim 14 or 15, characterized in that The calibration unit can be specifically used for: Performing linear fitting on the first peak signal and the second peak signal to obtain a first function; The sensor to be calibrated is calibrated according to the slope of the first function.

17. The device according to any one of claims 13 to 16, characterized in that The device also includes: A determination unit, used to determine whether the calibration system is qualified; The acquisition unit is specifically used for: Acquiring the first response signal and the second response signal through the calibration system; The calibration unit can be specifically used for: When the calibration system is qualified, the sensor to be calibrated is calibrated according to the first response signal and the second response signal.

18. The device according to claim 17, characterized in that The determining unit is specifically used for: Whether the calibration system is qualified is determined based on the frequency domain signal of the first response signal and / or the frequency domain signal of the second response signal.

19. The device according to claim 18, characterized in that The input signal includes a frequency sweep signal, and the acquisition unit is further configured to: Acquire a third peak signal and / or a fourth peak signal, wherein the third peak signal is a peak signal of the first response signal in the frequency domain under the excitation of the frequency sweep signal, and the fourth peak signal is a peak signal of the second response signal in the frequency domain under the excitation of the frequency sweep signal; The determination unit is specifically configured to determine whether the calibration system is qualified according to the third peak signal and / or the fourth peak signal.

20. The device according to claim 19, characterized in that The determining unit is specifically used for: In the target frequency range, when the third peak signal and / or the fourth peak signal exceeds a preset peak range, determining that the calibration system is unqualified; Within the target frequency range, and when the third peak signal and the fourth peak signal do not exceed the preset peak range, it is determined that the calibration system is qualified.

21. The device according to any one of claims 13 to 20, characterized in that The device also includes: The determination unit is used to determine the consistency of qualified target sensors among the sensors to be calibrated, wherein the number of the target sensors is multiple.

22. The device according to claim 21, characterized in that The acquisition unit is also used for: Obtaining the mean and standard deviation of the target sensor; The determining unit is specifically used for: Determining a coefficient of dispersion of the target sensor according to the mean and the standard deviation; When the discrete coefficient is less than or equal to the discrete coefficient threshold, determining that the consistency of the target sensor meets the requirement; When the dispersion coefficient is greater than the dispersion coefficient threshold, it is determined that the consistency of the target sensor does not meet the requirement.

23. The device according to any one of claims 13 to 22, characterized in that The first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

24. The device according to any one of claims 13 to 23, characterized in that The input signal includes an output signal of an exciter.

25. A sensor calibration device, characterized in that: include: Memory, used to store programs; A processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the sensor calibration method according to any one of claims 1 to 12.

26. A device for installing a sensor, characterized in that: include: A mounting member, on which a sensor to be calibrated is arranged; A support member, wherein a first sensor is arranged on a side of the support member away from the sensor to be calibrated; An input signal generating unit, used for generating an input signal with adjustable amplitude and / or frequency, and loading the input signal onto the sensor to be calibrated and the first sensor, so that the first sensor generates a first response signal and the sensor to be calibrated generates a second response signal; The first response signal and the second response signal are used to calibrate the sensor to be calibrated.

27. The device according to claim 26, characterized in that The input signal generating unit includes a vibration exciter, which generates an exciting force by moving in a direction away from the sensor to be calibrated and in a direction toward the sensor to be calibrated, and loads the exciting force on the first sensor and the sensor to be calibrated.

28. The device according to claim 26 or 27, characterized in that The device also includes: The loading member is connected to the input signal generating unit and is disposed between the input signal generating unit and the mounting member, and is used for loading the input signal to the mounting member under the drive of the input signal generating unit.

29. The device according to claim 28, characterized in that The loading element is circular in shape.

30. The device according to any one of claims 26 to 29, characterized in that The device also includes a bracket and an anti-vibration adjustment member; Wherein, the input signal generating unit is arranged on the bracket, and the anti-vibration adjusting member is arranged on the outside of the bracket.

31. The device according to any one of claims 26 to 30, characterized in that The first sensor includes a force sensor, the first response signal includes a force response signal, the sensor to be calibrated includes a piezoelectric sensor, and the second response signal includes a piezoelectric response signal.

32. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein the computer program enables a computer to execute the sensor calibration method according to any one of claims 1 to 12.

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