Calibration method and calibration device of piezoelectric sensor

Abstract

The embodiment of the invention provides a piezoelectric sensor calibration method and device, and the method comprises the steps: carrying out the impact of a force sensor and a battery pack for multiple times, and enabling the battery pack to be provided with a piezoelectric sensor; force response signals of the force sensor under multiple times of impact and piezoelectric response signals of the piezoelectric sensor under multiple times of impact are obtained; and calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal. According to the calibration method and the calibration device of the piezoelectric sensor provided by the embodiment of the invention, the piezoelectric sensor mounted on the battery pack can be accurately calibrated.

Description

Technical Field

[0001] The present application relates to the field of battery technology, and more specifically, to a calibration method and a calibration device for a piezoelectric sensor. Background Art

[0002] In the context of the rapid development of new energy vehicles, the safety of battery packs has become a focus of attention. To this end, a piezoelectric sensor is installed in the battery pack. When the battery pack is hit, the impact of the battery pack can be judged according to the response signal of the piezoelectric sensor, so that an impact warning can be issued, which can reduce the risk of damage to the battery pack caused by the impact.

[0003] Accurate judgment of the impact condition of the battery pack requires accurate calibrated piezoelectric sensors. Therefore, how to accurately calibrate the piezoelectric sensor has become one of the urgent problems to be solved. Summary of the invention

[0004] The embodiments of the present application provide a piezoelectric sensor calibration method and a calibration device, which can accurately calibrate the piezoelectric sensor installed on the battery pack.

[0005] In a first aspect, a method for calibrating a piezoelectric sensor is provided, comprising: impacting a force sensor and a battery pack multiple times, the battery pack having the piezoelectric sensor installed thereon; obtaining a force response signal of the force sensor under the multiple impacts and a piezoelectric response signal of the piezoelectric sensor under the multiple impacts; and calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0006] In an embodiment of the present application, by subjecting the force sensor and the battery pack to multiple impacts, the input force response signal and the output piezoelectric response signal of the piezoelectric sensor installed on the battery pack during dynamic impact can be obtained, so that the piezoelectric sensor can be accurately calibrated based on the force response signal and the piezoelectric response signal under multiple dynamic impacts.

[0007] In one possible implementation, the piezoelectric sensor is calibrated according to the force response signal and the piezoelectric response signal, including: determining a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal, wherein the plurality of first peaks are peaks of an envelope of the force response signal corresponding to the plurality of impacts in the time domain, and the plurality of second peaks are peaks of an envelope of the piezoelectric response signal corresponding to the plurality of impacts in the time domain; and determining a calibration coefficient of the piezoelectric sensor according to the plurality of first peaks and the plurality of second peaks.

[0008] In an embodiment of the present application, the calibration coefficient of the piezoelectric sensor can be accurately determined based on the peak value of the envelope of the force response signal in the time domain corresponding to multiple impacts and the peak value of the envelope of the piezoelectric response signal in the time domain corresponding to multiple impacts.

[0009] In one possible implementation, the calibration coefficient of the piezoelectric sensor is determined based on multiple first peaks and multiple second peaks, including: performing linear fitting of a linear function on the multiple first peaks and the multiple second peaks, and using the slope obtained by the linear fitting as the calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are a function of the multiple first peaks.

[0010] In the embodiment of the present application, the piezoelectric sensor can be accurately calibrated by using the slope obtained by linearly fitting a plurality of first peaks and a plurality of second peaks to a linear function as the calibration coefficient of the piezoelectric sensor.

[0011] In one possible implementation, the calibration method also includes: when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determining that the installation of the piezoelectric sensor meets the requirements; or, when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, determining that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor, wherein the preset calibration range is determined based on the calibration coefficients of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

[0012] In this way, whether the installation of the piezoelectric sensor meets the requirements can be determined based on whether the calibration coefficient of the piezoelectric sensor meets the preset calibration range. The piezoelectric sensor that does not meet the requirements can be reinstalled, so that the calibration coefficient of the piezoelectric sensor on the battery pack is within the preset calibration range. Furthermore, the impact condition of the battery pack can be determined based on the piezoelectric sensor that meets the requirements.

[0013] In one possible implementation, the preset calibration range is determined based on a mean preset value and a standard deviation preset value of the calibration coefficients of a group of piezoelectric sensors after installation, and the mean preset value and the standard deviation preset value are determined based on the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation.

[0014] In an embodiment of the present application, the mean preset value and standard deviation preset value of the calibration coefficients of a group of piezoelectric sensors after installation can be determined based on the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation, and then a reasonable preset calibration range can be determined based on the mean preset value and standard deviation preset value of the calibration coefficients after installation.

[0015] In one possible implementation, the calibration method further includes: correcting the calibration coefficient of the piezoelectric sensor that meets the installation requirements so that the response of the piezoelectric sensor and other piezoelectric sensors on the battery pack under the same mechanical input signal remains consistent.

[0016] In an embodiment of the present application, by correcting the calibration coefficient of a piezoelectric sensor that meets the requirements installed on the battery pack, the responses of piezoelectric sensors at different positions on the battery pack under the same input signal can be kept as consistent as possible, thereby enabling the impact of the battery pack to be quickly and accurately determined during the use of the battery pack.

[0017] In a possible implementation, before calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal, the calibration method also includes: determining multiple first frequency values ​​according to the force response signal, the multiple first frequency values ​​being the frequency values ​​corresponding to the peak values ​​of the force response signal corresponding to multiple impacts in the frequency domain; determining that the multiple first frequency values ​​are all within a first preset range, the first preset range being the frequency range in the frequency domain of the force response signal generated by the target impact force on the target force sensor, the target impact force being the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range, and the target preset range is determined according to the use requirements of the piezoelectric sensor.

[0018] In the embodiment of the present application, it is possible to determine that the calibration device is in a qualified state by using multiple first frequencies within a first preset range, so that the calibration coefficient of the piezoelectric sensor can be further accurately determined, thereby improving the accuracy of the piezoelectric sensor calibration.

[0019] In a possible implementation, the calibration method further includes: when there is a frequency value outside a first preset range among the multiple first frequency values, determining that the calibration device of the piezoelectric sensor is unqualified, so as to adjust the calibration device.

[0020] In an embodiment of the present application, when there are frequency values ​​outside the first preset range among the multiple first frequency values, the calibration device is adjusted to make the calibration device qualified, so that the piezoelectric sensor can be accurately calibrated.

[0021] In a possible implementation, the calibration method also includes: determining multiple second frequency values ​​based on the piezoelectric response signal, the multiple second frequency values ​​being the frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal corresponding to multiple impacts in the frequency domain; when the multiple second frequency values ​​are all within a second preset range, determining that the installation of the piezoelectric sensor meets the requirements; or, when there are frequency values ​​outside the second preset range among the multiple second frequency values, determining that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0022] In an embodiment of the present application, whether the installation of the piezoelectric sensor meets the requirements can be judged by determining whether the frequency value corresponding to the peak value of the piezoelectric response signal corresponding to multiple impacts in the frequency domain is within the second preset range determined by the use requirements. The piezoelectric sensors that meet the requirements and those that do not meet the requirements can be determined more accurately, and the piezoelectric sensors that do not meet the requirements can be reinstalled so that the multiple second frequency values ​​of the piezoelectric sensor remain within the second preset range, so that the impact of the battery pack and other conditions can be accurately determined based on the response signal of the piezoelectric sensor.

[0023] In a possible implementation, impacting the force sensor and the battery pack multiple times includes: impacting the force sensor and the battery pack multiple times using an impact module.

[0024] In the embodiment of the present application, the impact module is used to impact the force sensor and the battery pack multiple times, and the signals of the multiple impacts can be transmitted to the piezoelectric sensor through the battery pack, thereby achieving multiple impacts on the force sensor and the piezoelectric sensor.

[0025] In a possible implementation, the impact module is used to impact the force sensor and the battery pack multiple times, including: using the impact force generating module to generate impact force for multiple impacts, and impacting the force sensor and the battery pack multiple times, the impact module including the impact force generating module.

[0026] In the embodiment of the present application, the impact force generating module can be used to generate multiple impact forces, and the force sensor and the battery pack can be impacted multiple times. The dynamic process of the piezoelectric sensor during the impact can be truly simulated, and the piezoelectric sensor can be accurately calibrated.

[0027] In one possible implementation, an impact force generating module is used to generate the impact force of the multiple impacts, and the multiple impacts are performed on the force sensor and the battery pack, including: using the impact force generating module to drive the impact head to move, and performing multiple impacts on the battery pack, wherein the impact module includes an impact head, and the impact head is arranged on the impact force generating module.

[0028] In the embodiment of the present application, the impact head can be driven to move by the impact force generating module to perform multiple impacts on the battery pack, thereby achieving multiple impacts on the piezoelectric sensor.

[0029] In one possible implementation, before performing multiple impacts on the force sensor and the battery pack, the calibration method also includes: installing the force sensor between the impact head and the impact rod, both the impact head and the impact rod are in contact with the force sensor, the impact rod is arranged between the impact force generating module and the impact head, and the impact module includes the impact rod.

[0030] A force sensor is arranged between the impact rod and the impact ball head, so that the impact force generating module can drive the impact ball head to move, so that when the impact ball head impacts the battery pack, it also impacts the force sensor through the impact rod, thereby achieving multiple impacts on the force sensor.

[0031] In a possible implementation, before the force sensor and the battery pack are impacted multiple times, the calibration method further includes: placing and fixing the battery pack on a battery pack placement position, wherein the battery pack placement position is arranged below the impact module.

[0032] In an embodiment of the present application, the battery pack can be placed in a battery pack placement position, so that the impact head can be used to impact the battery pack multiple times, thereby achieving multiple impacts on the piezoelectric sensor to calibrate the piezoelectric sensor.

[0033] In a possible implementation, the impact module is movable along the battery pack placement position.

[0034] In an embodiment of the present application, the impact module is movable along the battery pack placement position and is used for calibration of piezoelectric sensors in different scenarios, such as impacting and calibrating piezoelectric sensors at different positions of the battery pack, thereby improving the applicability of the calibration device.

[0035] In a second aspect, a calibration device for a piezoelectric sensor is provided, including: an impact module, used to perform multiple impacts on a force sensor and a battery pack, on which a piezoelectric sensor is installed; an acquisition module, used to acquire a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts; and a processing module, used to calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0036] In one possible implementation, the processing module is used to: determine multiple first peaks and multiple second peaks based on the force response signal and the piezoelectric response signal, wherein the multiple first peaks are the peaks of the envelope of the force response signal corresponding to the multiple impacts in the time domain, and the multiple second peaks are the peaks of the envelope of the piezoelectric response signal corresponding to the multiple impacts in the time domain; determine the calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0037] In one possible implementation, the processing module is used to perform linear fitting of a function on multiple first peaks and multiple second peaks, and use the slope obtained from the linear fitting as a calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are functions of the multiple first peaks.

[0038] In one possible implementation, the processing module is used to: determine that the installation of the piezoelectric sensor meets the requirements when the calibration coefficient of the piezoelectric sensor is within a preset calibration range; or determine that the installation of the piezoelectric sensor does not meet the requirements when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, so as to reinstall the piezoelectric sensor, wherein the preset calibration range is determined based on the mean and standard deviation of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

[0039] In one possible implementation, the preset calibration range is determined based on a mean preset value and a standard deviation preset value of the calibration coefficients of a group of piezoelectric sensors after installation, and the mean preset value and the standard deviation preset value are determined based on the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation.

[0040] In one possible implementation, the processing module is used to correct the calibration coefficient of the piezoelectric sensor that meets the installation requirements so that the response of the piezoelectric sensor and other piezoelectric sensors on the battery pack under the same mechanical input signal is consistent.

[0041] In one possible implementation, the processing module is used to: determine multiple first frequency values ​​based on the force response signal, the multiple first frequency values ​​are the frequency values ​​corresponding to the peak values ​​of the force response signal corresponding to multiple impacts in the frequency domain; determine that the multiple first frequency values ​​are all within a first preset range, the first preset range is the frequency range in the frequency domain of the force response signal generated by the target impact force on the target force sensor, the target impact force is the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range, and the target preset range is determined based on the use requirements of the piezoelectric sensor.

[0042] In a possible implementation, the processing module is used to: when there is a frequency value outside a first preset range among the multiple first frequency values, determine that a calibration device of the piezoelectric sensor is unqualified, so as to adjust the calibration device.

[0043] In one possible implementation, the processing module is used to: determine multiple second frequency values ​​based on the piezoelectric response signal, the multiple second frequency values ​​being the frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal corresponding to multiple impacts in the frequency domain; determine that the installation of the piezoelectric sensor meets the requirements when the multiple second frequency values ​​are all within a second preset range; or determine that the installation of the piezoelectric sensor does not meet the requirements when there are frequency values ​​outside the second preset range among the multiple second frequency values, so as to reinstall the piezoelectric sensor, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0044] In a possible implementation, the impact module includes an impact force generating module, and the impact force generating module is used to generate impact forces of multiple impacts to perform multiple impacts on the force sensor and the battery pack.

[0045] In a possible implementation, the impact module includes an impact head, which is disposed on the impact force generating module. The impact force generating module drives the impact head to move, so as to perform multiple impacts on the battery pack.

[0046] In a possible implementation, the impact module includes an impact rod, which is disposed between the impact force generating module and the impact head. A force sensor is installed between the impact head and the impact rod, and both the impact head and the impact rod are in contact with the force sensor.

[0047] In a possible implementation, the calibration device further includes: a battery pack placement position, disposed below the impact module, for placing and fixing the battery pack.

[0048] In a third aspect, a calibration device for a piezoelectric sensor is provided, the device comprising a memory and a processor, the memory being used to store instructions, the processor being used to read the instructions and execute the method described in the first aspect or any one of the first aspects according to the instructions.

[0049] In a fourth aspect, a chip is provided, comprising: a processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes the method described in the first aspect or any one of the first aspects.

[0050] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program. When the computer program is executed by a computer, the computer implements the method described in the first aspect or any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic architecture diagram of the piezoelectric sensor calibration system provided in an embodiment of the present application.

[0052] Figure 2 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0053] Figure 3 It is a schematic diagram of the excitation signal provided in the embodiment of the present application.

[0054] Figure 4 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0055] Figure 5It is a schematic diagram of a force response signal and a piezoelectric response signal in the time domain provided in an embodiment of the present application.

[0056] Figure 6 It is a schematic diagram of the linear fitting of the calibration coefficients provided in the embodiment of the present application.

[0057] Figure 7 It is a flowchart of calibration coefficients of several piezoelectric sensors provided in the embodiments of the present application.

[0058] Figure 8 It is a schematic diagram of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0059] Fig. 9 It is a flow chart of the force response signal in the frequency domain provided in an embodiment of the present application.

[0060] Fig.10 It is a schematic diagram of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0061] Fig.11 It is a flow chart of the piezoelectric response signal in the frequency domain provided in an embodiment of the present application.

[0062] Fig.12 It is a schematic diagram of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0063] Fig.13 It is a schematic diagram and block diagram of a calibration device for a piezoelectric sensor provided in an embodiment of the present application.

[0064] Fig.14 It is a structural schematic diagram of a piezoelectric sensor calibration device provided in an embodiment of the present application.

[0065] Fig.15 It is a schematic diagram and block diagram of a calibration device for a piezoelectric sensor provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] 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.

[0067] In the description of the present application, it should be noted that the terms "inside", "outside", etc. indicating directions or positional relationships are only for the convenience of describing the present 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 a limitation on the present application. The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of the present application. In addition, the "vertical" or "parallel" in the embodiments of the present application are not in a strict sense, but within the range of error allowance.

[0068] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0069] Reference to "embodiments" herein 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 herein may be combined with other embodiments.

[0070] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0071] In the context of the rapid development of new energy vehicles, the safety of battery packs has become a focus of attention. To this end, a piezoelectric sensor is installed in the battery pack. When the battery pack is hit, the impact of the battery pack can be judged according to the response signal of the piezoelectric sensor, so that an impact warning can be issued, which can reduce the risk of damage to the battery pack caused by the impact.

[0072] Accurate judgment of the impact condition of the battery pack requires accurate calibrated piezoelectric sensors. Therefore, how to accurately calibrate the piezoelectric sensor has become one of the urgent problems to be solved.

[0073] In view of this, an embodiment of the present application provides a calibration method and a calibration device for a piezoelectric sensor, the calibration method comprising: performing multiple impacts on a force sensor and a battery pack, the battery pack being provided with a piezoelectric sensor; obtaining a force response signal of the force sensor under the multiple impacts and a piezoelectric response signal of the piezoelectric sensor under the multiple impacts; and calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0074] In an embodiment of the present application, by subjecting the force sensor and the battery pack to multiple impacts, the input force response signal and the output piezoelectric response signal of the piezoelectric sensor installed on the battery pack during dynamic impact can be obtained, so that the piezoelectric sensor can be accurately calibrated based on the force response signal and the piezoelectric response signal under multiple dynamic impacts.

[0075] Figure 1 A schematic diagram of the architecture of a piezoelectric sensor calibration system provided in an embodiment of the present application.

[0076] The calibration system 100 may include: a control module 110 , a data acquisition module 120 , and an impact module 130 .

[0077] The parameters of the excitation signal (such as a mechanical impact signal) can be set in the control module 110, including but not limited to the excitation frequency, excitation voltage or force, number of impacts, and impact time interval. The excitation frequency and excitation voltage or force can be fixed frequency and fixed amplitude, fixed frequency linear fixed amplitude, or swept frequency and fixed amplitude.

[0078] The control module 110 may send the parameters of the excitation signal to the impact module 130, and the impact module 130 may impact the force sensor and the battery pack multiple times based on the parameters, and the piezoelectric sensor is installed on the battery pack. For example, the mechanical signals of multiple impacts may be transmitted to the piezoelectric sensor through the battery pack.

[0079] In some embodiments of the present application, the impact module 130 may include an impact force generating device 131 such as an exciter. The impact force generating device 131 may generate impact forces of multiple impacts.

[0080] In some embodiments of the present application, the impact module 130 may further include an impact head 132 , and the impact force generating device 131 may drive the impact head 132 to move so as to perform multiple impacts on the force sensor and the battery pack.

[0081] In some embodiments of the present application, the impact module 130 may further include a force sensor placement position 133. For example, a force sensor may be placed between the impact force generating device 131 and the impact head 132, and when the impact force generating device 131 drives the impact head 132 to impact the battery pack, the force sensor may also be impacted.

[0082] In some embodiments of the present application, the acquisition frequency (eg, 2000 Hz) may also be set in the control module 110 .

[0083] The data acquisition module 120 can respectively collect the force response signal and the piezoelectric response signal of the force sensor and the piezoelectric sensor when they are impacted based on the acquisition frequency sent by the control module 110. Then the collected force response signal and the piezoelectric response signal are sent to the control module 110, and the control module 110 can calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0084] In some embodiments of the present application, parameters such as calibration system qualified parameters (such as 150 Hz to 250 Hz), piezoelectric sensor calibration coefficient qualified parameters (such as 0.9 to 1.1) and the like may also be set in the control module 110 .

[0085] For example, the control module 110 can determine whether the calibration coefficient is qualified according to whether the frequency corresponding to the peak value of the force response signal in the frequency domain is within the qualified parameter range of the calibration system. For example, the control module 110 can also determine whether the piezoelectric sensor is qualified or meets the use requirements according to whether the determined calibration coefficient of the piezoelectric sensor is within the qualified parameter range of the piezoelectric sensor calibration coefficient.

[0086] In some embodiments of the present application, the calibration system may further include a power module 140. The power module 140 may output a voltage satisfying the frequency and amplitude of the excitation signal to the impact force generating device 131 according to the parameters of the excitation signal sent by the control system 110, thereby driving the impact force generating device 131 to impact the force sensor and the battery pack based on the voltage.

[0087] In some embodiments of the present application, the calibration system may further include a trigger module, which may receive parameter information of the excitation signal sent by the control module 110 and convert it into a control signal of the impact module 130 and the power module 140, thereby driving the impact module 130 to perform multiple impacts.

[0088] Figure 2 A flowchart of the calibration method provided in an embodiment of the present application.

[0089] 210, subjecting the force sensor and battery pack to multiple impacts.

[0090] Among them, a piezoelectric sensor is installed on the battery pack.

[0091] In some embodiments, the force sensor and the battery pack may be subjected to multiple impacts periodically, for example, the excitation frequency of the multiple impacts is 200 Hz, the excitation force is 10 N, the number of impacts is 10, and the impact time interval is 1 s.

[0092] Of course, the excitation force can also be converted through the excitation voltage. For example, the excitation voltage can be set to 2V to generate an excitation force of 10N.

[0093] The excitation frequency and the amplitude of the excitation force (or excitation voltage) can be fixed frequency and fixed amplitude, fixed frequency and linear amplitude, or swept frequency and fixed amplitude, etc. Figure 3 In this embodiment, the excitation frequency and the amplitude of the excitation force (or excitation voltage) can be determined according to the use scenario of the piezoelectric sensor.

[0094] In this embodiment, the battery pack is impacted multiple times, so that the piezoelectric sensor on the battery pack can be impacted multiple times. For example, the piezoelectric sensor on the battery pack can be directly impacted, or the position on the battery pack where the piezoelectric sensor is not installed can be impacted multiple times, and then the mechanical signals of the multiple impacts are transmitted to the piezoelectric sensor through the battery pack.

[0095] 220 , obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0096] The force sensor is hit multiple times, and the force sensor can output the force of the multiple hits in real time. After receiving the mechanical signals of the multiple hits, the piezoelectric sensor can convert the mechanical signals of the multiple hits into electrical signals for real-time output. Therefore, the response signals output by the force sensor and the piezoelectric sensor at each hit can be obtained.

[0097] 230, calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0098] Calibrate the piezoelectric sensor, that is, determine 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 to the piezoelectric sensor and the output voltage signal, or the correspondence between the acceleration input to the piezoelectric sensor (which can be obtained by force calculation) and the output voltage signal.

[0099] The force sensor can output the force of multiple impacts in real time. Therefore, when calibrating the piezoelectric sensor, the force response signal can be used as the input signal of the piezoelectric sensor.

[0100] In an embodiment of the present application, by subjecting the force sensor and the battery pack to multiple impacts, the input force response signal and the output piezoelectric response signal of the piezoelectric sensor installed on the battery pack during dynamic impact can be obtained, so that the piezoelectric sensor can be accurately calibrated based on the force response signal and the piezoelectric response signal under multiple dynamic impacts.

[0101] Generally speaking, multiple piezoelectric sensors can be installed on a battery pack. Generally, multiple piezoelectric sensors whose calibration coefficients and frequencies corresponding to the peak values ​​of the piezoelectric response signals in the frequency domain are within a certain range and are installed on one battery pack are selected under the same calibration environment (such as the same calibration device).

[0102] When multiple piezoelectric sensors are installed on the battery pack, the multiple piezoelectric sensors need to be calibrated. When calibrating each piezoelectric sensor, the force sensor and the battery pack can be impacted multiple times. Here, the distance between each piezoelectric sensor and the corresponding impact position during calibration can be kept consistent. For example, when calibrating piezoelectric sensor 1, the distance between piezoelectric sensor 1 and the corresponding multiple impact positions is the first distance, then when calibrating piezoelectric sensor 2, the distance between piezoelectric sensor 2 and the corresponding multiple impact positions is also the first distance.

[0103] Figure 4 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0104] 410, multiple impacts are applied to the force sensor and the battery pack.

[0105] Among them, a piezoelectric sensor is installed on the battery pack.

[0106] 420 , obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0107] The contents of step 410 and step 420 can refer to the relevant descriptions of step 210 and step 220, and this application will not elaborate on them here.

[0108] 430 , determining a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal.

[0109] Among them, the multiple first peaks are the peaks of the envelope of the force response signal corresponding to the multiple impacts in the time domain, and the multiple second peaks are the peaks of the envelope of the piezoelectric response signal corresponding to the multiple impacts in the time domain.

[0110] Figure 5Figure 1 is a schematic diagram of the force response signal and piezoelectric response signal in the time domain during an impact. For example, in order to reduce the impact of zero drift and high-frequency noise and improve the clarity and accuracy of the force response signal and piezoelectric response signal in the time domain, the collected initial force response signal and initial piezoelectric response signal can be Fourier transformed to obtain the signal spectrum, the signal within a certain frequency range of the spectrum can be windowed, and the frequency after windowing can be inverse Fourier transformed to obtain Figure 5 The waveforms shown in (a) and (b).

[0111] like Figure 5 As shown in (a), according to the force response signal in the time domain during one impact, the envelope of the force response signal in the time domain during one impact can be obtained, and the peak of the envelope can be extracted to obtain a first peak. The peaks of the envelope of the force response signals in the time domain corresponding to multiple impacts can be extracted to obtain multiple first peaks.

[0112] Similarly, if Figure 5 As shown in (b), according to the piezoelectric response signal in the time domain during one impact, the envelope of the piezoelectric response signal in the time domain during one impact can be obtained, and the peak value of the envelope can be extracted to obtain a second peak value. The peak values ​​of the envelope of the piezoelectric response signal in the time domain corresponding to multiple impacts can be extracted to obtain multiple second peak values.

[0113] 440. Determine a calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0114] Determine the calibration coefficient of the piezoelectric sensor, that is, the coefficient that determines the correspondence between the input signal and the output signal of the piezoelectric sensor.

[0115] In the embodiment of the present application, since the piezoelectric sensor is installed on the battery pack, there may be a certain difference between the calibration coefficient before installation and the calibration coefficient after installation in the battery pack. Therefore, it is necessary to calibrate the piezoelectric sensor after installation.

[0116] In an embodiment of the present application, the calibration coefficient of the piezoelectric sensor can be accurately determined based on the peak value of the envelope of the force response signal in the time domain corresponding to multiple impacts and the peak value of the envelope of the piezoelectric response signal in the time domain corresponding to multiple impacts.

[0117] In some embodiments of the present application, a linear fit of a function is performed on multiple first peaks and multiple second peaks, and the slope obtained by the linear fit is used as a calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are functions of the multiple first peaks.

[0118] The plurality of second peaks are functions of the plurality of first peaks, that is, the first peaks are taken as points on the abscissa and the second peaks are taken as points on the ordinate.

[0119] Figure 6 The figure is a schematic diagram of the linear fitting of the piezoelectric sensor calibration coefficient. The first peak of the force response signal at each impact is used as the point on the horizontal axis, and the second peak of the piezoelectric response signal is used as the point on the vertical axis for fitting, and the slope of the fitting function is used as the calibration coefficient of the piezoelectric sensor.

[0120] In the embodiment of the present application, the piezoelectric sensor can be accurately calibrated by using the slope obtained by linearly fitting a plurality of first peaks and a plurality of second peaks to a linear function as the calibration coefficient of the piezoelectric sensor.

[0121] In some embodiments of the present application, a linear fit of a function can be performed using multiple second peaks as points on the horizontal axis and multiple first peaks as points on the vertical axis, and the inverse of the slope of the fitting function can be used as the calibration coefficient of the piezoelectric sensor.

[0122] 450a, when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determine that the installation of the piezoelectric sensor meets the requirements.

[0123] 450b, when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so that the piezoelectric sensor is reinstalled.

[0124] Among them, the preset calibration range is determined based on the calibration coefficients of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

[0125] The larger the calibration coefficient of the piezoelectric sensor, the higher the conversion efficiency of the piezoelectric sensor in converting mechanical signals (impact signals) into electrical signals; conversely, the lower the conversion efficiency. In the same or similar usage scenarios, for example, for a piezoelectric sensor installed on a battery pack, its calibration coefficient must also be within a certain range, so that the size of the electrical signal converted by the piezoelectric sensor is also within a certain range, and then the impact of the battery pack and other situations can be accurately judged.

[0126] Piezoelectric sensors with calibration coefficients within a certain range are usually selected and installed on a battery pack, so as to keep the responses of multiple piezoelectric sensors installed on the battery pack as consistent as possible. For example, multiple sensors installed in the same battery pack may be piezoelectric sensors produced from the same batch, and the calibration coefficients of the same batch of piezoelectric sensors can be kept within a certain range. Therefore, the range of calibration coefficients of the multiple sensors after installation (preset calibration range) can be set according to the calibration coefficients of the multiple piezoelectric sensors before installation. For example, the upper and lower limits of the calibration coefficients of the multiple piezoelectric sensors before installation can be used as the preset calibration range. For another example, the above-mentioned certain range can be used as the preset calibration range.

[0127] Figure 7 The diagram shows the calibration coefficients of several piezoelectric sensors. For example, the preset calibration range is 0.9 to 1.1. For two piezoelectric sensors with calibration coefficients of 0.8 and 1.2, respectively, their calibration coefficients are outside the preset calibration range. It can be determined that the installation of the two piezoelectric sensors does not meet the requirements and the two piezoelectric sensors need to be reinstalled.

[0128] For the other piezoelectric sensors with calibration coefficients ranging from 0.9 to 1.1, it can be determined that the installation of these piezoelectric sensors meets the requirements.

[0129] In this way, whether the installation of the piezoelectric sensor meets the requirements can be determined based on whether the calibration coefficient of the piezoelectric sensor meets the preset calibration range. The piezoelectric sensor that does not meet the requirements can be reinstalled, so that the calibration coefficient of the piezoelectric sensor on the battery pack is within the preset calibration range. Furthermore, the impact condition of the battery pack can be determined based on the piezoelectric sensor that meets the requirements.

[0130] In some embodiments of the present application, the preset calibration range is determined based on a mean preset value and a standard deviation preset value of the calibration coefficients of a group of piezoelectric sensors after installation, and the mean preset value and the standard deviation preset value are determined based on the mean and the standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation.

[0131] Exemplarily, the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors after installation can be set according to the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation, for example, the mean and standard deviation of the calibration coefficients before installation are consistent with the mean setting value and standard deviation setting value after installation. Then, based on a preset confidence interval, for example (95%), the upper and lower limits of the calibration coefficients are determined, and the upper and lower limits are used as the preset calibration range.

[0132] In an embodiment of the present application, a preset value of the mean and a preset value of the standard deviation of the calibration coefficients of a group of piezoelectric sensors after installation can be determined based on the mean and standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation, and then a reasonable preset calibration range can be determined based on the preset value of the mean and the preset value of the standard deviation of the calibration coefficients after installation.

[0133] 460a, the calibration coefficient of the piezoelectric sensor that meets the installation requirements is corrected so that the response of the piezoelectric sensor is consistent with that of other piezoelectric sensors on the battery pack under the same mechanical input signal.

[0134] For piezoelectric sensors that meet the requirements, their calibration coefficients need to be corrected. For example, if the calibration coefficient of a piezoelectric sensor is 1.05, in order to make the response of the piezoelectric sensor consistent with that of another piezoelectric sensor with a calibration coefficient of 1.0 under the same mechanical input signal, the calibration coefficient of the piezoelectric sensor can be corrected to 1.05*1.0 / 1.05.

[0135] In an embodiment of the present application, by correcting the calibration coefficient of the piezoelectric sensor on the battery pack, the responses of the piezoelectric sensors at different positions on the battery pack under the same input signal can be kept as consistent as possible, thereby enabling the impact of the battery pack to be quickly and accurately determined during the use of the battery pack.

[0136] Figure 8 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0137] 810, multiple impacts were applied to the force sensor and battery pack.

[0138] Among them, a piezoelectric sensor is installed on the battery pack.

[0139] 820, obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0140] 830 , determine a plurality of first frequency values ​​according to the force response signal.

[0141] The multiple first frequency values ​​are frequency values ​​corresponding to peak values ​​of the force response signals corresponding to the multiple impacts in the frequency domain.

[0142] Fig. 9 This is a schematic diagram of a force response signal in the frequency domain during an impact provided by an embodiment of the present application. For example, the force response signal in the time domain during an impact can be Fourier transformed to obtain Fig. 9 The frequency spectrum of the force response signal is shown. Fig. 9 The frequency value corresponding to the peak value of the frequency spectrum of the force response signal during one impact is shown as the first frequency value. Multiple first frequency values ​​can be obtained based on the frequency values ​​corresponding to the peak values ​​of the force response signal in the frequency domain corresponding to multiple impacts.

[0143] 840a, determining that a plurality of first frequency values ​​are within a first preset range.

[0144] The first preset range is the frequency range of the target force response signal generated by the target force sensor to the target impact force in the frequency domain. The target impact force is the impact force when the frequency corresponding to the peak value of the target piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range. The target preset range is determined based on the use requirements of the piezoelectric sensor.

[0145] The target preset range can be determined according to the use requirements of the piezoelectric sensor in the actual use scenario. For example, the target preset range can be set between 150Hz and 200Hz. In a certain use scenario, only when the frequency value of the piezoelectric sensor is within the frequency range required by the use scenario can the piezoelectric sensor be used to more accurately judge the impact situation.

[0146] The target force sensor may be another force sensor having the same performance as the above force sensor, such as the force sensor in step 810, or may be the above force sensor. The target force sensor may be a real sensor, or may be a sensor in a simulation test.

[0147] The target piezoelectric sensor may be a sensor different from the above-mentioned piezoelectric sensor, such as the piezoelectric sensor in step 810, or may be the above-mentioned piezoelectric sensor. The piezoelectric sensor may be a real sensor, or may be a sensor in a simulation experiment.

[0148] For example, the target preset range is between 150Hz and 250Hz. The frequency corresponding to the peak value of the target piezoelectric response signal generated by the target impact force hitting the target piezoelectric sensor in the frequency domain can be 200HZ, with ±50Hz as the allowable frequency error range, that is, 150Hz to 250Hz. The target impact force corresponding to the target piezoelectric signal of 150Hz to 250Hz, and the frequency range of the target force response signal generated by the target force sensor in the frequency domain can be the first preset range. Fig. 9 As shown, the first preset range may be 25 Hz to 80 Hz.

[0149] The first preset range may be determined by an actual test or by a simulation test.

[0150] In this embodiment, the force sensor and the piezoelectric sensor may be impacted multiple times to determine multiple first frequency values, and then determine whether the multiple first frequency values ​​are within the first preset range. Of course, a first frequency value may also be determined after each impact on the force sensor and the piezoelectric sensor, and when it is determined that the first frequency value is within the first preset range, the piezoelectric sensor and the force sensor are impacted again.

[0151] In the embodiment of the present application, the calibration device can be determined to be in a qualified state through multiple second frequencies within the first preset range, so that the calibration coefficient of the piezoelectric sensor can be further accurately determined, thereby improving the accuracy of the piezoelectric sensor calibration.

[0152] 850a, determining a calibration coefficient of the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0153] 840b, when there is a frequency value outside the first preset range among the multiple first frequency values, it is determined that the calibration device of the piezoelectric sensor is unqualified, so as to adjust the calibration device, and then execute step 810 and subsequent steps.

[0154] When there is a frequency value outside the first preset range among the multiple first frequency values, it is determined that the calibration device is unqualified, and then the calibration device is adjusted and calibrated to recalibrate the piezoelectric sensor.

[0155] For example, when it is determined that the calibration device is unqualified, it can be determined whether the assembly accuracy of the calibration device meets the requirements. If the assembly accuracy does not meet the requirements, the assembly accuracy can be adjusted. For another example, the impact module of the calibration device (such as the stiffness of the impact module, etc.) can be adjusted, where the impact module is used to impact the force sensor and the battery pack multiple times.

[0156] In an embodiment of the present application, when there are frequency values ​​outside the first preset range among the multiple first frequency values, the piezoelectric sensor can be accurately calibrated by adjusting the calibration device to make the calibration device qualified.

[0157] Fig.10 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0158] 1010, impact the force sensor and battery pack multiple times.

[0159] Among them, a piezoelectric sensor is installed on the battery pack.

[0160] 1020 , obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0161] 1030, determining a calibration coefficient of the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0162] The contents of step 1010 to step 1030 can refer to the relevant descriptions of step 210 to step 230, and this application will not repeat them here.

[0163] 1040 , determine a plurality of second frequency values ​​according to the piezoelectric response signal.

[0164] The multiple second frequency values ​​are frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal corresponding to the multiple impacts in the frequency domain.

[0165] Fig.11 A schematic diagram of a piezoelectric response signal in the frequency domain during a collision provided by an embodiment of the present application. For example, the piezoelectric response signal in the time domain during a collision can be Fourier transformed to obtain Fig.11The frequency spectrum of the piezoelectric response signal is shown. Fig.11 The frequency value corresponding to the peak value of the spectrum of the piezoelectric response signal during one impact is shown as the second frequency value. Multiple second frequency values ​​can be obtained based on the frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal in the frequency domain corresponding to multiple impacts.

[0166] In the embodiment of the present application, during an impact, the frequency value corresponding to the peak value of the envelope of the piezoelectric response signal in the time domain, that is, the frequency value corresponding to the peak value of the spectrum of the piezoelectric response signal.

[0167] 1050a, when the plurality of second frequency values ​​are within the second preset range, determining that the installation of the piezoelectric sensor meets the requirements.

[0168] 1050b, when there is a frequency value outside the second preset range among the multiple second frequency values, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so that the piezoelectric sensor is reinstalled.

[0169] The second preset range is determined according to the use requirements of the piezoelectric sensor.

[0170] The second preset range can be determined according to the use requirements of the piezoelectric sensor in the actual use scenario. In a certain use scenario, only when the second frequency value of the piezoelectric sensor is within the frequency range required by the use scenario can the piezoelectric sensor be used to more accurately judge the impact situation, etc. Therefore, it can be judged whether the installation of the piezoelectric sensor meets the requirements by whether multiple second frequency values ​​are within the second preset range.

[0171] For example, a piezoelectric sensor can be selected in which the frequency value corresponding to the peak value of the piezoelectric response signal in the frequency domain during an impact is within the frequency range required by the usage scenario, for example, between 150 Hz and 200 Hz. The piezoelectric sensor is then installed on a battery pack. It is then determined whether multiple second frequency values ​​of the piezoelectric sensor installed on the battery pack are still within the frequency range required by the usage scenario, for example, between 150 Hz and 200 Hz. If the multiple second frequency values ​​are within the frequency range required by the usage scenario, it is determined that the installation of the piezoelectric sensor meets the requirements. If there are frequency values ​​outside the range required by the usage scenario among the multiple second frequency values, it is determined that the installation of the piezoelectric sensor does not meet the requirements.

[0172] In this embodiment, the range that the piezoelectric response signal of the piezoelectric sensor in the frequency domain should meet before installation can be determined according to the use requirements of the piezoelectric sensor, and then the second preset range can be determined according to the range. Alternatively, the second preset range can be directly determined according to the use requirements of the piezoelectric sensor.

[0173] In this embodiment, after multiple impacts, multiple second frequency values ​​can be determined, and then the relationship between the multiple second frequency values ​​and the second preset range can be determined to determine whether the piezoelectric sensor meets the requirements. Alternatively, a second frequency value can be determined after each impact, and when the second frequency value is within the second preset range, the next impact can be performed; when the second frequency value is outside the second preset range, the next impact is stopped and the piezoelectric sensor is rejected.

[0174] In an embodiment of the present application, whether the installation of the piezoelectric sensor meets the requirements can be judged by determining whether the frequency value corresponding to the peak value of the piezoelectric response signal corresponding to multiple impacts in the frequency domain is within the second preset range determined by the use requirements. The piezoelectric sensors that meet the requirements and those that do not meet the requirements can be determined more accurately, and the piezoelectric sensors that do not meet the requirements can be reinstalled so that the multiple second frequency values ​​of the piezoelectric sensor remain within the second preset range, so that the impact of the battery pack and other conditions can be accurately determined based on the response signal of the piezoelectric sensor.

[0175] Of course, step 1040 and step 1050 can also be executed before step 1030. When it is determined that the installation of the piezoelectric sensor meets the requirements, the calibration coefficient of the piezoelectric sensor can be determined. When it is determined that the installation of the piezoelectric sensor does not meet the requirements, the calibration coefficient of the piezoelectric sensor can be determined after it is reinstalled to meet the requirements.

[0176] In some embodiments of the present application, before obtaining the force response signal of the force sensor under multiple impacts and the piezoelectric response signal of the piezoelectric sensor under multiple impacts, data of the force response signal and the piezoelectric response signal of any impact under multiple impacts within a preset time range are stored, and the preset time range is a period of time before and after the moment when the maximum impact force of any impact occurs, and the preset time range is less than the time interval between any impact and the next impact.

[0177] In some embodiments of the present application, when the stored data of the calibration device is greater than or equal to a storage threshold, data of the force response signal and the piezoelectric response signal within a preset time range during any one of multiple impacts are stored.

[0178] In some embodiments of the present application, an impact module may be used to impact the force sensor and the battery pack multiple times.

[0179] In the embodiment of the present application, the impact module is used to impact the force sensor and the battery pack multiple times, and the signals of the multiple impacts can be transmitted to the piezoelectric sensor through the battery pack, thereby achieving multiple impacts on the force sensor and the piezoelectric sensor.

[0180] In some embodiments of the present application, an impact force generating module can be used to generate impact forces of multiple impacts, and multiple impacts can be performed on the force sensor and the battery pack, and the impact module includes an impact force generating module.

[0181] The impact force generating module may be, for example, a vibration exciter.

[0182] In the embodiment of the present application, the impact force generating module can be used to generate multiple impact forces, and the force sensor and the battery pack can be impacted multiple times. The dynamic process of the piezoelectric sensor during the impact can be truly simulated, and the piezoelectric sensor can be accurately calibrated.

[0183] In some embodiments of the present application, the impact force generating module can be used to drive the impact head to move and perform multiple impacts on the battery pack, wherein the impact head is arranged on the impact force generating module, and the impact module includes the impact head.

[0184] In the embodiment of the present application, the impact head can be driven to move by the impact force generating module to perform multiple impacts on the battery pack, thereby achieving multiple impacts on the piezoelectric sensor.

[0185] In some embodiments of the present application, before the force sensor and the battery pack are impacted multiple times, the force sensor is installed between the impact head and the impact rod, both the impact head and the impact rod are in contact with the force sensor, the impact rod is arranged between the impact force generating module and the impact head, and the impact module includes the impact rod.

[0186] A force sensor is arranged between the impact rod and the impact ball head, so that the impact force generating module can drive the impact ball head to move, so that when the impact ball head impacts the piezoelectric sensor, it also impacts the force sensor through the impact rod, thereby achieving multiple impacts on the force sensor.

[0187] In some embodiments of the present application, before the force sensor and the battery pack are impacted multiple times, the battery pack is placed and fixed on a battery pack placement position, and the battery pack placement position is arranged below the impact module.

[0188] In an embodiment of the present application, the battery pack can be placed in a battery pack placement position, so that the impact head can be used to impact the battery pack multiple times, thereby achieving multiple impacts on the piezoelectric sensor to calibrate the piezoelectric sensor.

[0189] In some embodiments of the present application, the impact module is movable along the battery pack placement position.

[0190] For example, wheels can be installed under the impact module, and the impact module can be driven to move manually or hydraulically. When there are multiple piezoelectric sensors on the battery pack, the impact module can be moved to a specified position away from each piezoelectric sensor to perform multiple impacts. Or when the positions of piezoelectric sensors on different types of battery packs are different, the impact module can be movable to achieve multiple impacts on piezoelectric sensors of different types of battery packs.

[0191] The impact module is movable along the battery pack placement position and is used for calibration of piezoelectric sensors in different scenarios, thereby improving the applicability of the calibration device.

[0192] Fig.12 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0193] 1210, subject the force sensor and battery pack to multiple impacts.

[0194] A piezoelectric sensor is installed on the battery pack.

[0195] 1220, obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0196] 1230. Determine a plurality of first frequency values ​​according to the force response signal.

[0197] The multiple first frequency values ​​are frequency values ​​corresponding to peak values ​​of the force response signals corresponding to multiple impacts in the frequency domain.

[0198] 1240a, determine that the plurality of first frequency values ​​are all within a first preset range.

[0199] 1240b, when there is a frequency value outside the first preset range among the multiple first frequency values, it is determined that the calibration device of the piezoelectric sensor is unqualified, so as to adjust the calibration device.

[0200] The first preset range is the frequency range in the frequency domain of the force response signal generated by the target impact force to the target force sensor. The target impact force is the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range. The target preset range is determined based on the use requirements of the piezoelectric sensor.

[0201] 1250, determine a plurality of second frequency values ​​according to the piezoelectric response signal.

[0202] The multiple second frequency values ​​are frequency values ​​corresponding to peak values ​​of the piezoelectric response signal corresponding to multiple impacts in the frequency domain.

[0203] 1260a. When the plurality of second frequency values ​​are all within the second preset range, it is determined that the installation of the piezoelectric sensor meets the requirements.

[0204] 1260b, when there is a frequency value outside the second preset range among the multiple second frequency values, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so that the piezoelectric sensor is reinstalled.

[0205] The second preset range is determined according to the use requirements of the piezoelectric sensor.

[0206] 1270. Determine a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal.

[0207] Among them, the multiple first peaks are the peaks of the envelope of the force response signal corresponding to the multiple impacts in the time domain, and the multiple second peaks are the peaks of the envelope of the piezoelectric response signal corresponding to the multiple impacts in the time domain.

[0208] 1280. Determine a calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0209] 1290a, when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determine that the installation of the piezoelectric sensor meets the requirements.

[0210] 1290b. When the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so that the piezoelectric sensor is reinstalled.

[0211] The preset calibration range is determined based on a preset mean value and a preset standard deviation value of calibration coefficients of a group of piezoelectric sensors after installation, and the preset mean value and the preset standard deviation value are determined based on a mean value and a standard deviation of calibration coefficients of a group of piezoelectric sensors before installation.

[0212] 12100a, the calibration coefficients of the piezoelectric sensor installed to meet the requirements are corrected so that the response of the piezoelectric sensor is consistent with that of other piezoelectric sensors on the battery pack under the same mechanical input signal.

[0213] The contents of step 1210 to step 12100 can refer to the relevant description above, and this application will not go into details here.

[0214] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order 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.

[0215] The above describes in detail the battery replacement method of the embodiment of the present application. Figures 13 to 15The battery replacement device of the embodiment of the present application is described in detail, and the technical features described in the method embodiment are applicable to the following device embodiments. It should be understood that the description of the method side embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the description above.

[0216] Fig.13 is a schematic block diagram of a piezoelectric sensor calibration device provided in an embodiment of the present application. Fig.13 As shown, the calibration device 3000 includes an impact module 3010, an acquisition module 3020 and a processing module 3030.

[0217] The impact module 3010 is used to impact the force sensor and the battery pack multiple times, and the battery pack is provided with a piezoelectric sensor;

[0218] An acquisition module 3020, used to acquire a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts;

[0219] The processing module 3030 is used to calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0220] In some embodiments of the present application, the processing module 3030 is used to: determine multiple first peaks and multiple second peaks based on the force response signal and the piezoelectric response signal, wherein the multiple first peaks are the peaks of the envelope of the force response signal corresponding to the multiple impacts in the time domain, and the multiple second peaks are the peaks of the envelope of the piezoelectric response signal corresponding to the multiple impacts in the time domain; determine the calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0221] In some embodiments of the present application, the processing module 3030 is used to: perform linear fitting of a function on multiple first peaks and multiple second peaks, and use the slope obtained by the linear fitting as a calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are functions of the multiple first peaks.

[0222] In some embodiments of the present application, the processing module 3030 is used to: determine that the installation of the piezoelectric sensor meets the requirements when the calibration coefficient of the piezoelectric sensor is within a preset calibration range; or determine that the installation of the piezoelectric sensor does not meet the requirements when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, so as to reinstall the piezoelectric sensor, wherein the preset calibration range is determined based on the mean and standard deviation of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

[0223] In some embodiments of the present application, the preset calibration range is determined based on a preset value of the mean value and the preset value of the standard deviation of the calibration coefficients of a group of piezoelectric sensors after installation, and the preset value of the mean value and the preset value of the standard deviation of the calibration coefficients after installation are determined based on the mean value and the standard deviation of the calibration coefficients of a group of piezoelectric sensors before installation.

[0224] In some embodiments of the present application, the processing module 3030 is also used to correct the calibration coefficient of the piezoelectric sensor so that the response of the piezoelectric sensor and other piezoelectric sensors on the battery pack under the same mechanical input signal is consistent.

[0225] In some embodiments of the present application, the processing module 3030 is used to: determine multiple first frequency values ​​based on the force response signal, and the multiple first frequency values ​​are the frequency values ​​corresponding to the peak values ​​of the force response signal corresponding to multiple impacts in the frequency domain; determine that the multiple first frequency values ​​are all within a first preset range, and the first preset range is the frequency range in the frequency domain of the force response signal generated by the target impact force on the target force sensor, and the target impact force is the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range, and the target preset range is determined according to the use requirements of the piezoelectric sensor.

[0226] In some embodiments of the present application, the processing module 3030 is used to: when there is a frequency value outside the first preset range among the multiple first frequency values, determine that the calibration device of the piezoelectric sensor is unqualified, so as to adjust the calibration device.

[0227] In some embodiments of the present application, the processing module 3030 is used to: determine multiple second frequency values ​​based on the piezoelectric response signal, the multiple second frequency values ​​being the frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal corresponding to multiple impacts in the frequency domain; when the multiple second frequency values ​​are all within a second preset range, determine that the installation of the piezoelectric sensor meets the requirements; or, when there are frequency values ​​outside the second preset range among the multiple second frequency values, determine that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0228] In some embodiments of the present application, the impact module 3010 includes an impact force generating module 3011, and the impact force generating module 3011 is used to generate impact forces of multiple impacts to perform multiple impacts on the force sensor and the battery pack.

[0229] In some embodiments of the present application, the impact module 3010 includes an impact head 3012, which is disposed on the impact force generating module 3011. The impact force generating module 3011 drives the impact head 3012 to move, so as to perform multiple impacts on the battery pack.

[0230] In some embodiments of the present application, the impact module 3010 includes an impact rod 3013, which is arranged between the impact force generating module 3011 and the impact head 3012, and a force sensor is installed between the impact head 3012 and the impact rod 3013, and both the impact head 3012 and the impact rod 3013 are in contact with the force sensor.

[0231] In some embodiments of the present application, the calibration device further includes: a battery pack placement position 3040, which is disposed below the impact module and is used to place and fix the battery pack.

[0232] In some embodiments of the present application, the impact module 3010 is movable along the battery pack placement position.

[0233] Fig.14 A schematic diagram of the structure of the calibration device provided in an embodiment of the present application.

[0234] The calibration device 3000 includes an impact module 3010, an acquisition module and a processing module (the acquisition module or the processing module is not shown in the figure).

[0235] The impact module 3010 is used to perform multiple impacts on the force sensor 3051 and the battery pack 3041, on which the piezoelectric sensor 3052 is installed; the acquisition module is used to obtain the force response signal of the force sensor 3051 under the multiple impacts and the piezoelectric response signal of the piezoelectric sensor 3052 under the multiple impacts; the processing module is used to calibrate the piezoelectric sensor 3052 according to the force response signal and the piezoelectric response signal.

[0236] The function of the processing module 3040 can be referred to Fig.13 The description in , this application will not be repeated here.

[0237] In some embodiments of the present application, the impact module 3010 includes an impact force generating module 3011, and the impact force generating module 3011 is used to generate the impact force of the multiple impacts to perform the multiple impacts on the force sensor 3051 and the battery pack 3041.

[0238] In some embodiments of the present application, the impact module 3010 includes an impact head 3012, and the impact head 3012 is arranged on the impact force generating module 3011. The impact force generating module 3011 drives the impact head 3012 to move, so as to perform the multiple impacts on the battery pack 3041.

[0239] In some embodiments of the present application, the impact module 3010 includes the impact rod 3013, which is arranged between the impact force generating module 3011 and the impact head 3012, and the force sensor is fixed between the impact head 3012 and the impact rod 3013, and the impact head 3012 and the impact rod 3013 are both in contact with the force sensor 3051.

[0240] In some embodiments of the present application, the calibration device further includes: a battery pack placement position 3040 , which is disposed below the impact module 3010 and is used to place and fix the battery pack 3041 .

[0241] In some embodiments of the present application, the impact module 3010 is movable along the battery pack placement position 3040. For example, the calibration device may further include a moving wheel 3065, and the movement of the moving wheel 3065 drives the impact block 3010 to move.

[0242] In some embodiments of the present application, a shock absorbing module is provided below the battery placement position 3040 to reduce vibration interference of the external environment on the calibration device.

[0243] In some embodiments of the present application, the calibration impact includes a support 3067 for connecting the impact module 3010.

[0244] In some embodiments of the present application, the impact module 3010 is movable in the up and down direction. For example, the calibration device may further include a ball screw 3061, a slider 3062, and a guide rail 3063, wherein the slider 3062 is connected to the support 3067, and by rotating the ball screw 3061, the slider 3062 may be driven to move along the guide rail 3063, thereby driving the support 3067 and the impact module 3010 to move up and down.

[0245] In some embodiments of the present application, the calibration device may further include a base 3064. The impact module 3010 may be disposed on the base 3064. For example, the impact module 3010 may be connected to the base 3064 via a slider 3062 and a guide rail 3063.

[0246] In some embodiments of the present application, the calibration device may further include a counterweight block 3066 , which is disposed on the base 3064 and can be used to increase the stability of the base 3064 , thereby increasing the stability of the impact device 3010 .

[0247] The assembly of the tooling of the calibration device is exemplarily introduced as follows.

[0248] Four moving wheels 3065 are installed on the bottom of the base 3064 , and a counterweight block 3066 is installed on the base 3064 to improve the stability of the base 3064 .

[0249] The slider 3062 is assembled into the guide rail 3063, and the slider 3062 and the guide rail 3063 are connected by bolts, and then the guide rail 3063 is assembled to the base 3064 by bolts, so that the slider 3062 can be moved in the up and down directions.

[0250] The base 3064 is connected to the support 3067 by using the ball screw 3061 , and is fixed by using the nut of the ball screw 3061 , so that the support 3067 can move along the ball screw 3061 .

[0251] Turn the ball screw 3061 to move the support 3067 to an appropriate height, select the slider 3062 closest to the support 3067, loosen the bolts of the slider 3062, move the slider 3062 to the bottom of the support 3067, and pre-tighten the slider 3062 and the exciter support 3067. Follow the same steps to complete the pre-tightening installation of the support 3067 and all sliders 3062.

[0252] Install the impact rod 3013 onto the impact force generating module, then install the force sensor 3051 onto the impact rod 3013, then select a suitable impact head 3012 and install it onto the force sensor 3051, and then fix the assembled impact module 3010 onto the support 3067 with bolts.

[0253] The height position of the impact module 3010 on the support 3067 is controlled to ensure that the impact head 3012 and the battery pack maintain the same height. For example, the impact module 3010 can be connected to the support 3067 by a connecting rod, and the connecting rod is provided with positioning pins at different positions along the height. The height of the impact module 3010 on the support 3067 can be adjusted by the positioning pins at different positions, so as to ensure that the impact head 3012 and the battery pack maintain the same height.

[0254] Fig.15 This is a schematic block diagram of a calibration device provided in an embodiment of the present application. Fig.15 As shown, the calibration device 4000 includes a processor 4010 and a memory 4020, wherein the memory 4020 is used to store instructions, and the processor 4010 is used to read the instructions and execute the methods of the various embodiments of the present application based on the instructions.

[0255] The memory 4020 may be a separate device independent of the processor 4010 , or may be integrated into the processor 4010 .

[0256] Alternatively, if Fig.15As shown, the calibration device 4000 may further include a transceiver 4030, and the processor 4010 may control the transceiver 4030 to communicate with other devices. Specifically, information or data may be sent to other devices, or information or data sent by other devices may be received.

[0257] It should be understood that the processor of the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor can be combined to perform. The software module can be located in a mature storage medium in the field 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, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0258] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0259] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0260] Optionally, the computer-readable storage medium can be applied to the calibration device in the embodiments of the present application, and when the computer program runs on the computer, it enables the computer to execute the corresponding processes implemented by the device in the various methods of the embodiments of the present application. For the sake of brevity, they will not be repeated here.

[0261] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0262] Optionally, the computer program product can be applied to the calibration device in the embodiments of the present application, and when the computer program instructions are run on a computer, the computer executes the corresponding processes implemented by the calibration device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0263] The embodiment of the present application also provides a computer program.

[0264] Optionally, the computer program can be applied to the calibration device in the embodiments of the present application. When the computer program runs on a computer, the computer executes the corresponding processes implemented by the calibration device in the various methods of the embodiments of the present application. For the sake of brevity, they are not repeated here.

[0265] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0266] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0267] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection involved in the embodiments of the present application can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0268] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0269] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0270] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0271] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there are no structural conflicts. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A piezoelectric sensor calibration method, characterized in that: include: Performing multiple impacts on the force sensor and the battery pack, wherein the battery pack has a piezoelectric sensor mounted thereon; Acquire a force response signal of the force sensor under the multiple impacts and a piezoelectric response signal of the piezoelectric sensor under the multiple impacts; The piezoelectric sensor is calibrated according to the force response signal and the piezoelectric response signal.

2. The calibration method according to claim 1, characterized in that: Calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal, including: Determine a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal, wherein the plurality of first peaks are peaks of an envelope of the force response signal corresponding to the plurality of impacts in the time domain, and the plurality of second peaks are peaks of an envelope of the piezoelectric response signal corresponding to the plurality of impacts in the time domain; A calibration coefficient of the piezoelectric sensor is determined based on the multiple first peaks and the multiple second peaks.

3. The calibration method according to claim 2, characterized in that: Determining the calibration coefficient of the piezoelectric sensor according to the plurality of first peaks and the plurality of second peaks includes: A linear fit of a function is performed on the multiple first peaks and the multiple second peaks, and a slope obtained by the linear fit is used as a calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are functions of the multiple first peaks.

4. The calibration method according to any one of claims 1 to 3, characterized in that: The calibration method further comprises: When the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determining that the installation of the piezoelectric sensor meets the requirements; or, When the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor. The preset calibration range is determined based on the calibration coefficients of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

5. The calibration method according to claim 4, characterized in that: The preset calibration range is determined based on a preset mean value and a preset standard deviation value of the calibration coefficients of the group of piezoelectric sensors after installation, and the preset mean value and the preset standard deviation value are determined based on a preset mean value and a preset standard deviation value of the calibration coefficients of the group of piezoelectric sensors before installation.

6. The calibration method according to claim 4 or 5, characterized in that: The calibration method further comprises: The calibration coefficient of the piezoelectric sensor that meets the installation requirements is corrected so that the response of the piezoelectric sensor and other piezoelectric sensors on the battery pack under the same mechanical input signal is consistent.

7. The calibration method according to any one of claims 1 to 6, characterized in that: Before calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal, the calibration method further includes: Determine a plurality of first frequency values ​​according to the force response signal, wherein the plurality of first frequency values ​​are frequency values ​​corresponding to peak values ​​of the force response signal corresponding to the plurality of impacts in the frequency domain; Determine that the multiple first frequency values ​​are all within a first preset range, the first preset range is the frequency range in the frequency domain of the force response signal generated by the target impact force to the target force sensor, the target impact force is the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range, and the target preset range is determined based on the use requirements of the piezoelectric sensor.

8. The calibration method according to claim 7, characterized in that: The calibration method further comprises: When there is a frequency value outside the first preset range among the multiple first frequency values, it is determined that the calibration device of the piezoelectric sensor is unqualified, so that the calibration device is adjusted.

9. The calibration method according to any one of claims 1 to 8, characterized in that: The calibration method further comprises: Determine a plurality of second frequency values ​​according to the piezoelectric response signal, wherein the plurality of second frequency values ​​are frequency values ​​corresponding to peak values ​​of the piezoelectric response signal in the frequency domain corresponding to the plurality of impacts; When the plurality of second frequency values ​​are all within the second preset range, it is determined that the installation of the piezoelectric sensor meets the requirements; or, When there is a frequency value outside the second preset range among the plurality of second frequency values, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor. Wherein, the second preset range is determined according to the use requirements of the piezoelectric sensor.

10. The calibration method according to any one of claims 1 to 9, characterized in that: The force sensor and the battery pack are impacted multiple times, including: An impact module is used to perform the multiple impacts on the force sensor and the battery pack.

11. The calibration method according to claim 10, characterized in that: The method of using an impact module to impact the force sensor and the battery pack multiple times includes: An impact force generating module is used to generate the impact force of the multiple impacts, and the multiple impacts are performed on the force sensor and the battery pack, and the impact module includes the impact force generating module.

12. The calibration method according to claim 11, characterized in that: The method of using an impact force generating module to generate the impact force of the multiple impacts and performing the multiple impacts on the force sensor and the battery pack includes: The impact force generating module is used to drive the impact head to move, and the battery pack is impacted multiple times, wherein the impact module includes the impact head, and the impact head is arranged on the impact force generating module.

13. The calibration method according to claim 12, characterized in that: Before performing multiple impacts on the force sensor and the battery pack, the calibration method further includes: The force sensor is installed between the impact head and the impact rod. Both the impact head and the impact rod are in contact with the force sensor. The impact rod is arranged between the impact force generating module and the impact head. The impact module includes the impact rod.

14. The calibration method according to any one of claims 10 to 13, characterized in that: Before performing multiple impacts on the force sensor and the battery pack, the calibration method further includes: The battery pack is placed and fixed on a battery pack placement position, and the battery pack placement position is arranged below the impact module.

15. The calibration method according to claim 14, characterized in that: The impact module is movable along the battery pack placement position.

16. A piezoelectric sensor calibration device, characterized in that: include: An impact module, used for impacting the force sensor and the battery pack multiple times, wherein the battery pack is equipped with a piezoelectric sensor; An acquisition module, used for acquiring a force response signal of the force sensor under the multiple impacts and a piezoelectric response signal of the piezoelectric sensor under the multiple impacts; A processing module is used to calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

17. The calibration device according to claim 16, characterized in that: The processing module is used for: Determine a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal, wherein the plurality of first peaks are peaks of an envelope of the force response signal corresponding to the plurality of impacts in the time domain, and the plurality of second peaks are peaks of an envelope of the piezoelectric response signal corresponding to the plurality of impacts in the time domain; A calibration coefficient of the piezoelectric sensor is determined based on the multiple first peaks and the multiple second peaks.

18. The calibration device according to claim 17, characterized in that: The processing module is used for: A linear fit of a function is performed on the multiple first peaks and the multiple second peaks, and a slope obtained by the linear fit is used as a calibration coefficient of the piezoelectric sensor, wherein the multiple second peaks are functions of the multiple first peaks.

19. The calibration device according to any one of claims 16 to 18, characterized in that: The processing module is used for: When the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determining that the installation of the piezoelectric sensor meets the requirements; or, When the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor. The preset calibration range is determined based on the mean and standard deviation of a group of piezoelectric sensors before installation, and the group of piezoelectric sensors includes the piezoelectric sensor and other piezoelectric sensors on the battery pack.

20. The calibration device according to claim 19, characterized in that: The preset calibration range is determined based on a preset mean value and a preset standard deviation value of the calibration coefficients of the group of piezoelectric sensors after installation, and the preset mean value and the preset standard deviation value are determined based on a preset mean value and a preset standard deviation value of the calibration coefficients of the group of piezoelectric sensors before installation.

21. The calibration device according to claim 19 or 20, characterized in that: The processing module is used for: The calibration coefficient of the piezoelectric sensor that meets the installation requirements is corrected so that the response of the piezoelectric sensor and other piezoelectric sensors on the battery pack under the same mechanical input signal is consistent.

22. The calibration device according to any one of claims 16 to 21, characterized in that: The processing module is used for: Determine a plurality of first frequency values ​​according to the force response signal, wherein the plurality of first frequency values ​​are frequency values ​​corresponding to peak values ​​of the force response signal corresponding to the plurality of impacts in the frequency domain; Determine that the multiple first frequency values ​​are all within a first preset range, the first preset range is the frequency range in the frequency domain of the force response signal generated by the target impact force to the target force sensor, the target impact force is the impact force when the frequency corresponding to the peak value of the piezoelectric response signal of the target piezoelectric sensor in the frequency domain is within the target preset range, and the target preset range is determined based on the use requirements of the piezoelectric sensor.

23. The calibration device according to claim 22, characterized in that: The processing module is used for: When there is a frequency value outside the first preset range among the multiple first frequency values, it is determined that the calibration device of the piezoelectric sensor is unqualified, so that the calibration device is adjusted.

24. The calibration device according to any one of claims 16 to 23, characterized in that: The processing module is used for: Determine a plurality of second frequency values ​​according to the piezoelectric response signal, wherein the plurality of second frequency values ​​are frequency values ​​corresponding to peak values ​​of the piezoelectric response signal in the frequency domain corresponding to the plurality of impacts; When the plurality of second frequency values ​​are all within the second preset range, it is determined that the installation of the piezoelectric sensor meets the requirements; or, In the case that the plurality of second frequency values ​​include a frequency value outside the second preset range, it is determined that the installation of the piezoelectric sensor does not meet the requirements, so as to reinstall the piezoelectric sensor. Wherein, the second preset range is determined according to the use requirements of the piezoelectric sensor.

25. The calibration device according to any one of claims 16 to 24, characterized in that: The impact module includes an impact force generating module, and the impact force generating module is used to generate the impact force of the multiple impacts to perform the multiple impacts on the force sensor and the battery pack.

26. The calibration device according to claim 25, characterized in that: The impact module includes an impact head, which is arranged on the impact force generating module. The impact force generating module drives the impact head to move, so as to perform the multiple impacts on the battery pack.

27. The calibration device according to claim 26, characterized in that: The impact module includes the impact rod, which is arranged between the impact force generating module and the impact head. The force sensor is installed between the impact head and the impact rod, and both the impact head and the impact rod are in contact with the force sensor.

28. The calibration device according to any one of claims 16 to 27, characterized in that: The calibration device also includes: The battery pack placement position is arranged below the impact module and is used to place and fix the battery pack.

29. The calibration device according to claim 28, characterized in that: The impact module is movable along the battery pack placement position.

30. A piezoelectric sensor calibration device, characterized in that: The device comprises a memory and a processor, wherein the memory is used to store instructions, and the processor is used to read the instructions and execute the method according to any one of claims 1 to 15 according to the instructions.

31. A chip, characterized in that: include: A processor, configured to call and run a computer program from a memory, so that a device equipped with the chip executes a method as claimed in any one of claims 1 to 15.

32. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and when the computer program is executed by a computer, the computer implements the method as claimed in any one of claims 1 to 15.

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