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 transmission module for multiple times, and enabling the transmission module to transmit the impact to a piezoelectric sensor; acquiring a force response signal of the force sensor under the multi-time impact and a piezoelectric response signal of the piezoelectric sensor under the multi-time impact; 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 calibration of the piezoelectric sensor can be accurately carried out.

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 increasing attention. To this end, a piezoelectric sensor is set 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 due to 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, thereby accurately determining the impact condition of a battery pack.

[0005] In a first aspect, a method for calibrating a piezoelectric sensor is provided, comprising: performing multiple impacts on a force sensor and a transmission module, wherein the transmission module is used to transmit the multiple impacts to the 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.

[0006] In an embodiment of the present application, by subjecting the force sensor and the transmission module to multiple impacts and then transmitting the multiple impacts to the piezoelectric sensor through the transmission module, a simulation of dynamic impacts in actual application scenarios of the piezoelectric sensor is achieved, so that the piezoelectric sensor can be accurately calibrated based on the force response signals and piezoelectric response signals under multiple 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 piezoelectric sensor meets the requirements; or, when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, determining that the piezoelectric sensor does not meet the requirements, wherein the preset calibration range is determined based on the use requirements of the piezoelectric sensor.

[0012] Whether the piezoelectric sensor meets the requirements can be determined based on the preset calibration range determined by whether the piezoelectric sensor meets the use requirements, so that a piezoelectric sensor that meets the requirements can be selected for use, which can simplify the calculation of the value of the electrical signal output by the piezoelectric sensor when the piezoelectric sensor is impacted. On the other hand, different preset calibration ranges can also be determined based on the use requirements of the piezoelectric sensor, so that piezoelectric sensors that meet different use requirements can be determined for different application scenarios.

[0013] In one 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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 piezoelectric sensor meets the requirements; or, when there are frequency values ​​outside the second preset range in the multiple second frequency values, determining that the piezoelectric sensor does not meet the requirements, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0018] In the embodiment of the present application, whether the piezoelectric sensor meets the requirements can be judged by 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 conversion between the mechanical signal and the electrical signal of the piezoelectric sensor that meets the requirements can be determined more accurately, so that the impact and other conditions of the piezoelectric sensor can be judged more accurately.

[0019] In one possible implementation, the number of piezoelectric sensors is N, and the calibration method further includes: selecting M piezoelectric sensors that meet the requirements from the N piezoelectric sensors, 1<M≤N and M is an integer; determining the mean and standard deviation of the calibration coefficients of the M piezoelectric sensors; determining the discrete coefficient of the M piezoelectric sensors based on the mean and the standard deviation; when the discrete coefficient is less than or equal to a preset threshold, determining that the consistency of the M piezoelectric sensors meets the requirements; or, when the discrete coefficient is greater than the preset threshold, eliminating the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors until the discrete coefficient is less than or equal to the preset threshold.

[0020] In an embodiment of the present application, the discrete coefficient of the calibration coefficients of M qualified piezoelectric sensors can be calculated, so that when the discrete coefficient is less than or equal to a preset threshold, it can be determined that the consistency of the M piezoelectric sensors meets the requirements; when the discrete coefficient is greater than the preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients can be eliminated from the M piezoelectric sensors until the discrete coefficients of the remaining piezoelectric sensors meet the consistency requirements, thereby obtaining piezoelectric sensors with higher consistency of calibration coefficients.

[0021] In a possible implementation, performing multiple impacts on the force sensor and the transmission module includes: using an impact force generating module to generate multiple impact forces, and performing multiple impacts on the force sensor and the transmission module.

[0022] In an embodiment of the present application, the impact force generating module can be used to generate impact forces of multiple impacts, perform multiple impacts on the force sensor and the transmission module, and then transmit the signals of the multiple impacts to the piezoelectric sensor through the transmission module, so as to truly simulate the dynamic process of the piezoelectric sensor during the impact, and then accurately calibrate the piezoelectric sensor.

[0023] In one possible implementation, the force sensor and the transmission module are impacted multiple times, including: using the impact force generating module to drive the impact head to move, and impacting the transmission module multiple times, wherein the impact head is arranged on the impact force generating module, and the transmission module is arranged below the impact head.

[0024] In the embodiment of the present application, the impact head can be driven to move by the impact force generating module to impact the transmission module multiple times, thereby achieving multiple impacts on the piezoelectric sensor.

[0025] In one possible implementation, the impact force generating module is used to drive the impact head to move, and the transmission module is impacted multiple times, including: the impact force generating module is used to drive the impact head to move, and the impact position of the transmission module is impacted multiple times, and the impact position is set below the impact head.

[0026] In the embodiment of the present application, the impact force generating module drives the impact position of the impact head transmitting module, and the mechanical signal of the impact can be further transmitted to the piezoelectric sensor, so that the piezoelectric sensor can be calibrated.

[0027] In one possible implementation, before performing multiple impacts on the force sensor and the transmission module, the calibration method also includes: fixing 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, and the impact rod is set on the impact force generating module.

[0028] 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 synchronous impact on the force sensor and the piezoelectric sensor.

[0029] In a possible implementation, before the force sensor and the transmission module are impacted multiple times, the calibration method further includes: placing and fixing the piezoelectric sensor on a placement position of the transmission module.

[0030] In an embodiment of the present application, the piezoelectric sensor can be placed in a placement position on the transmission module, so that the transmission module can be impacted multiple times using the impact head, and the multiple impacts can be transmitted to the piezoelectric sensor to calibrate the piezoelectric sensor.

[0031] 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 transmission module; a transmission module, used to transmit the multiple impacts to the piezoelectric sensor; 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.

[0032] 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.

[0033] 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.

[0034] In one possible implementation, the processing module is also used to: determine that the piezoelectric sensor meets the requirements when the calibration coefficient of the piezoelectric sensor is within a preset calibration range; or determine that the piezoelectric sensor does not meet the requirements when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, wherein the preset calibration range is determined based on the use requirements of the piezoelectric sensor.

[0035] 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.

[0036] 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 the calibration device is unqualified, so as to adjust the calibration device.

[0037] In one possible implementation, the processing module is used to: determine multiple second frequency values ​​based on the piezoelectric response signal, where the multiple second frequency values ​​are frequency values ​​corresponding to the peak values ​​of the piezoelectric response signal corresponding to multiple impacts in the frequency domain; determine that the piezoelectric sensor meets the requirements when the multiple second frequency values ​​are all within a second preset range; or determine that the piezoelectric sensor does not meet the requirements when there are frequency values ​​outside the second preset range among the multiple second frequency values, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0038] In one possible implementation, the number of piezoelectric sensors is N, and the processing module is also used to: select M piezoelectric sensors that meet the requirements from the N piezoelectric sensors, 1<M≤N and M is an integer; determine the mean and standard deviation of the calibration coefficients of the M piezoelectric sensors; determine the discrete coefficient of the M piezoelectric sensors based on the mean and the standard deviation; when the discrete coefficient is less than or equal to a preset threshold, determine that the consistency of the M piezoelectric sensors meets the requirements; or, when the discrete coefficient is greater than or equal to the preset threshold, eliminate the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors until the discrete coefficient is less than or equal to the preset threshold.

[0039] In a possible implementation, the impact module includes an impact force generating module, which is used to generate impact force for impacting the force sensor and the transmission module multiple times.

[0040] In a possible implementation, the impact module also includes an impact head, which is arranged on the impact force generating module, and the transmission module is arranged below the impact head, so that the impact force generating module drives the impact head to impact the transmission module multiple times.

[0041] In a possible implementation, the transfer module includes an impact position, which is disposed below the impact head, so that the impact generation module drives the impact head to impact the impact position multiple times.

[0042] In a possible implementation, the impact module also includes an impact rod, which is arranged between the impact force generating module and the impact head, a force sensor is fixed between the impact rod and the impact head, and both the impact head and the impact rod are in contact with the force sensor.

[0043] In a possible implementation, the transfer module further includes: a placement position for placing and fixing the piezoelectric sensor.

[0044] 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.

[0045] 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.

[0046] 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

[0047] Figure 1 It is a schematic architecture diagram of the piezoelectric sensor calibration system provided in an embodiment of the present application.

[0048] Figure 2 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0049] Figure 3 It is a schematic diagram of the excitation signal provided in the embodiment of the present application.

[0050] Figure 4 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0051] Figure 5 It 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.

[0052] Figure 6 It is a schematic diagram of the linear fitting of the calibration coefficients provided in the embodiment of the present application.

[0053] Figure 7 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0054] Figure 8 It is a schematic diagram of a force response signal in the frequency domain provided in an embodiment of the present application.

[0055] Fig. 9 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0056] Fig.10 It is a schematic diagram of a piezoelectric response signal in the frequency domain provided in an embodiment of the present application.

[0057] Fig.11 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0058] Fig.12 It is a flow chart of the calibration method of the piezoelectric sensor provided in the embodiment of the present application.

[0059] 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.

[0060] Fig.14 It is a structural schematic diagram of a piezoelectric sensor calibration device provided in an embodiment of the present application.

[0061] 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

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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 transmission module, the transmission module being used to transmit the multiple impacts to the piezoelectric sensor; obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts; and calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0070] In an embodiment of the present application, by subjecting the force sensor and the transmission module to multiple impacts and then transmitting the multiple impacts to the piezoelectric sensor through the transmission module, a simulation of dynamic impacts in actual application scenarios of the piezoelectric sensor is achieved, so that the piezoelectric sensor can be accurately calibrated based on the force response signals and piezoelectric response signals under multiple impacts.

[0071] Figure 1 A schematic diagram of the architecture of a piezoelectric sensor calibration system provided in an embodiment of the present application.

[0072] The calibration system 100 may include: a control module 110 , a data acquisition module 120 , an impact module 130 , and a transmission module 140 .

[0073] The parameters of the excitation signal (e.g., impact mechanical signal) may be set in the control module 110, including but not limited to the excitation frequency, excitation voltage or force, number of impacts (e.g., 10 times), and impact time interval. The excitation frequency and excitation voltage or force may be fixed frequency and fixed amplitude, fixed frequency and linear fixed amplitude, or swept frequency and fixed amplitude.

[0074] The control module 110 may send parameters of the excitation signal to the impact module 130 , and the impact module 130 may impact the force sensor and the transmission module 140 multiple times based on the parameters, and the transmission module 140 may transmit the signals of the multiple impacts to the piezoelectric sensor.

[0075] In some embodiments of the present application, the transmission module 140 may include an impact position 141 and a placement position 142. The placement position 142 can be used to place a piezoelectric sensor. The impact module 130 can impact the impact position 141 multiple times and then transmit the signals of the multiple impacts to the piezoelectric sensor on the placement position 142.

[0076] 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.

[0077] 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 impact the force sensor and the transmission module 140 multiple times.

[0078] In some embodiments of the present application, the impact module 130 may further include a position for placing a force sensor. 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 impact position 141 of the transmission module 140, the force sensor may also be impacted.

[0079] In some embodiments of the present application, the acquisition frequency (eg, 2000 Hz) may also be set in the control module 110 .

[0080] 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.

[0081] In some embodiments of the present application, parameters such as a qualified parameter range for the calibration system (such as 100 Hz to 250 Hz), a qualified parameter range for the piezoelectric sensor calibration coefficient or a parameter range that meets the requirements (such as 0.9-1.1) can also be set in the control module 110.

[0082] For example, the control module 110 can determine whether the calibration system is qualified according to whether the frequency value corresponding to the peak value of the force response signal in the frequency domain is within the qualified parameter range of the calibration system. The control module 110 can also determine whether the piezoelectric sensor is qualified or meets the requirements according to whether the determined piezoelectric sensor calibration coefficient is within the qualified parameter range of the piezoelectric sensor calibration coefficient.

[0083] In some embodiments of the present application, the calibration system may further include a power module 150. The power module 150 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 piezoelectric sensor based on the voltage.

[0084] 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 for the impact force generating module 131 and the power supply module 150, thereby driving the impact module 130 to perform multiple impacts.

[0085] Figure 2 A flowchart of the calibration method provided in an embodiment of the present application.

[0086] 210, impact the force sensor and the transmission module multiple times.

[0087] The transmission module is used to transmit multiple impacts to the piezoelectric sensor.

[0088] In some embodiments, the force sensor and the transmission module may be subjected to multiple periodic impacts, for example, the multiple impacts may have an excitation frequency of 200 Hz, an excitation force of 10 N, 10 impacts, and an impact time interval of 1 s.

[0089] 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.

[0090] 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.

[0091] In this embodiment, the transmission module may be impacted multiple times, and then the multiple impacts may be transmitted to the piezoelectric sensor through the transmission module. For example, instead of directly impacting the piezoelectric sensor, the transmission module may be impacted, and the transmission module may generate a mechanical vibration signal when impacted, and the mechanical vibration signal may be input to the piezoelectric sensor through the transmission module.

[0092] 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.

[0093] 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 transmitted by the transmission module, 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.

[0094] 230, calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0095] 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 voltage signal output, or the correspondence between the acceleration input to the piezoelectric sensor (which can be obtained by force calculation) and the voltage signal output, etc.

[0096] 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.

[0097] In an embodiment of the present application, by subjecting the force sensor and the transmission module to multiple impacts and then transmitting the multiple impacts to the piezoelectric sensor through the transmission module, a simulation of dynamic impacts in actual application scenarios of the piezoelectric sensor is achieved, so that the piezoelectric sensor can be accurately calibrated based on the force response signals and piezoelectric response signals under multiple impacts.

[0098] Figure 4 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0099] 410, impact the force sensor and the transmission module multiple times.

[0100] The transmission module is used to transmit multiple impacts to the piezoelectric sensor.

[0101] 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.

[0102] 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.

[0103] 430 , determining a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal.

[0104] 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.

[0105] Figure 5 Figure 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).

[0106] 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.

[0107] 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.

[0108] 440. Determine a calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0109] Determine the calibration coefficient of the piezoelectric sensor, that is, the coefficient that determines the corresponding relationship between the input signal and the output signal of the piezoelectric sensor.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 450a, when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determine that the piezoelectric sensor meets the requirements.

[0117] 450b, when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the piezoelectric sensor does not meet the requirements.

[0118] Among them, the preset calibration range is determined according to the use requirements of the piezoelectric sensor.

[0119] 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, therefore, piezoelectric sensors with calibration coefficients within a certain range of usage requirements are generally selected. For example, the preset calibration range can be set within the range of 0.9 to 1.1 according to usage requirements.

[0120] In this way, whether the piezoelectric sensor meets the requirements can be determined based on the preset calibration range determined by whether the piezoelectric sensor meets the use requirements, so that a piezoelectric sensor that meets the requirements can be selected for use, which can simplify the calculation of the value of the electrical signal output by the piezoelectric sensor when the piezoelectric sensor is impacted.

[0121] On the other hand, different preset calibration ranges can also be determined according to the usage requirements of the piezoelectric sensor, so that piezoelectric sensors that meet different usage requirements can be determined for different application scenarios.

[0122] Figure 7 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0123] At 710 , the force sensor and the transmission module are impacted multiple times.

[0124] The transmission module is used to transmit multiple impacts to the piezoelectric sensor.

[0125] 720 , obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0126] 730 , determine a plurality of first frequency values ​​according to the force response signal.

[0127] 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.

[0128] Figure 8 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 Figure 8 The frequency spectrum of the force response signal is shown. Figure 8 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.

[0129] 740a, determine that a plurality of first frequency values ​​are within a first preset range.

[0130] 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.

[0131] The target preset range is the same as the first preset range mentioned above, and this application will not elaborate on it here.

[0132] 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 710, 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.

[0133] The target piezoelectric sensor may be a sensor different from the above-mentioned piezoelectric sensor, such as the piezoelectric sensor in step 710, or may be the above-mentioned piezoelectric sensor. The target piezoelectric sensor may be a real sensor, or may be a sensor in a simulation experiment.

[0134] 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 is generated, 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. Figure 8 As shown, the first preset range may be 25 Hz to 80 Hz.

[0135] The first preset range may be determined by an actual test or by a simulation test.

[0136] 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.

[0137] 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.

[0138] 750a, determining a calibration coefficient of the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0139] The description of step 750a may refer to the relevant contents of step 230 or steps 430 to 440, and this application will not elaborate on them here.

[0140] 740b, 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 710 and subsequent steps.

[0141] 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.

[0142] 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, wherein the impact module is used to impact the force sensor and the transmission module multiple times.

[0143] 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.

[0144] Fig. 9 It is a flow chart of the calibration method provided in the embodiment of the present application.

[0145] 910, impact the force sensor and the transmission module multiple times.

[0146] The transmission module is used to transmit multiple impacts to the piezoelectric sensor.

[0147] 920, obtaining a force response signal of the force sensor under multiple impacts and a piezoelectric response signal of the piezoelectric sensor under multiple impacts.

[0148] 930, determining a calibration coefficient of the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0149] The contents of step 910 to step 930 can refer to the relevant descriptions of step 210 to step 230, and this application will not repeat them here.

[0150] 940, determining a plurality of second frequency values ​​according to the piezoelectric response signal.

[0151] 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.

[0152] Fig.10 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.10The frequency spectrum of the piezoelectric response signal is shown. Fig.10 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.

[0153] 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.

[0154] 950a, when the plurality of second frequency values ​​are within the second preset range, it is determined that the piezoelectric sensor meets the requirements.

[0155] 950b, when there is a frequency value outside the second preset range among the multiple second frequency values, it is determined that the piezoelectric sensor does not meet the requirements.

[0156] The second preset range is determined according to the use requirements of the piezoelectric sensor.

[0157] The second preset range can be determined according to the use requirements of the piezoelectric sensor in the actual use scenario. For example, the second preset range can be set between 150Hz and 200Hz. 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 is possible to judge whether the piezoelectric sensor meets the requirements by whether multiple second frequency values ​​are within the second preset range.

[0158] 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.

[0159] In the embodiment of the present application, whether the piezoelectric sensor meets the requirements can be judged by 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 conversion between the mechanical signal and the electrical signal of the piezoelectric sensor that meets the requirements can be determined more accurately, so that the impact and other conditions of the piezoelectric sensor can be judged more accurately.

[0160] Of course, step 940 and step 950 can also be performed before step 930. When it is determined that the piezoelectric sensor meets the requirements based on the second frequency value, the calibration coefficient of the piezoelectric sensor can be determined. When it is determined that the piezoelectric sensor does not meet the requirements based on the second frequency value, the piezoelectric sensor can be eliminated without determining the calibration coefficient of the piezoelectric sensor.

[0161] Fig.11 : is a flow chart of the calibration method provided in the embodiment of the present application. The number of the piezoelectric sensors may be N.

[0162] 1110, select M piezoelectric sensors that meet the requirements from N piezoelectric sensors.

[0163] Here, 1<M≤N and M is an integer.

[0164] In some embodiments of the present application, when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, it is determined that the piezoelectric sensor meets the requirements.

[0165] In some embodiments of the present application, when multiple second frequency values ​​of the piezoelectric sensor are all within a second preset range, it is determined that the piezoelectric sensor meets the requirements.

[0166] For example, a piezoelectric sensor whose calibration coefficient is within a preset calibration range and whose multiple second frequency values ​​are all within a second preset range may be regarded as a piezoelectric sensor that meets the requirements.

[0167] 1120, determine the mean and standard deviation of the calibration coefficients of the M piezoelectric sensors.

[0168] 1130, determine the dispersion coefficient of the M piezoelectric sensors according to the mean and the standard deviation.

[0169] The coefficient of dispersion can be determined according to the following formula:

[0170]

[0171] Among them, C v is the discrete coefficient of the M piezoelectric sensors, σ is the standard deviation of the calibration coefficients of the M piezoelectric sensors, and μ is the mean of the M piezoelectric sensors.

[0172] 1140a, when the discrete coefficient is less than or equal to a preset threshold, determine whether the consistency of the M piezoelectric sensors meets the requirements.

[0173] For example, in C v ≤10% indicates that the consistency of the M piezoelectric sensors is high. Fig.12 A schematic diagram of the discrete coefficient provided in the embodiment of the present application, such as Fig.12As shown, the calculated dispersion coefficient is 9%, which is less than 10%, indicating that the consistency of the M piezoelectric sensors is high and meets the requirements.

[0174] 1140b, when the discrete coefficient is greater than a preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors are eliminated until the discrete coefficient is less than or equal to the preset threshold.

[0175] For example, if the calculated dispersion coefficient is greater than or equal to 10%, the piezoelectric sensors with the largest and / or smallest calibration coefficients can be eliminated until the calculated dispersion coefficient is less than 10%, and the consistency of the calibration coefficients of the remaining piezoelectric sensors after elimination is considered to meet the requirements.

[0176] In an embodiment of the present application, the discrete coefficient of the calibration coefficients of M qualified piezoelectric sensors can be calculated, so that when the discrete coefficient is less than or equal to a preset threshold, it can be determined that the consistency of the M piezoelectric sensors meets the requirements; when the discrete coefficient is greater than the preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients can be eliminated from the M piezoelectric sensors until the discrete coefficients of the remaining piezoelectric sensors meet the consistency requirements, thereby obtaining piezoelectric sensors with higher consistency of calibration coefficients.

[0177] 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.

[0178] 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.

[0179] In some embodiments of the present application, the impact force generating module can be used to generate the impact force of multiple impacts, and perform multiple impacts on the force sensor and the transmission module.

[0180] The impact force generating module may be, for example, a vibration exciter.

[0181] In an embodiment of the present application, the impact force generating module can be used to generate impact forces of multiple impacts, perform multiple impacts on the force sensor and the transmission module, and then transmit the signals of the multiple impacts to the piezoelectric sensor through the transmission module, so as to truly simulate the dynamic process of the piezoelectric sensor during the impact, and then accurately calibrate the piezoelectric sensor.

[0182] 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 transmission module, wherein the impact head is arranged on the impact force generating module and the transmission module is arranged below the impact head.

[0183] In the embodiment of the present application, the impact head can be driven to move by the impact force generating module to impact the transmission module multiple times, thereby achieving multiple impacts on the piezoelectric sensor.

[0184] In some embodiments of the present application, the impact force generating module is used to drive the impact head to move, and the impact position of the transmission module is impacted multiple times, and the impact position is arranged below the impact head.

[0185] In the embodiment of the present application, the impact force generating module drives the impact position of the impact head transmitting module, and the mechanical signal of the impact can be further transmitted to the piezoelectric sensor, so that the piezoelectric sensor can be calibrated.

[0186] In some embodiments of the present application, before the force sensor and the transmission module are impacted multiple times, the force sensor is fixed between the impact head and the impact rod, both the impact head and the impact rod are in contact with the force sensor, and the impact rod is set on the impact force generating module.

[0187] 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 synchronous impact on the force sensor and the piezoelectric sensor.

[0188] In some embodiments of the present application, before the force sensor and the transmission module are impacted multiple times, the piezoelectric sensor may be placed and fixed on the placement position of the transmission module.

[0189] In an embodiment of the present application, the piezoelectric sensor can be placed in a placement position on the transmission module, so that the transmission module can be impacted multiple times using the impact head, and the multiple impacts can be transmitted to the piezoelectric sensor to calibrate the piezoelectric sensor.

[0190] Fig.12 This is a piezoelectric sensor calibration method provided in an embodiment of the present application.

[0191] 1210, impact the force sensor and the transmission module multiple times.

[0192] The transmission module is used to transmit multiple impacts to the piezoelectric sensor.

[0193] 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.

[0194] 1230. Determine a plurality of first frequency values ​​according to the force response signal.

[0195] 1240a, determine that a plurality of first frequency values ​​are within a first preset range.

[0196] 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.

[0197] Among them, 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 according to the use requirements of the piezoelectric sensor.

[0198] 1250, determine a plurality of second frequency values ​​according to the piezoelectric response signal.

[0199] 1260a, when the plurality of second frequency values ​​are within a second preset range, determining that the piezoelectric sensor meets the requirements.

[0200] 1260b, when there is a frequency value outside the second preset range among the multiple second frequency values, it is determined that the piezoelectric sensor does not meet the requirements.

[0201] The second preset range is determined according to the use requirements of the piezoelectric sensor.

[0202] 1270. Determine a plurality of first peaks and a plurality of second peaks according to the force response signal and the piezoelectric response signal.

[0203] 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.

[0204] 1280. Determine a calibration coefficient of the piezoelectric sensor based on the multiple first peaks and the multiple second peaks.

[0205] 1290a, when the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determine that the piezoelectric sensor meets the requirements.

[0206] 1290b, when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, it is determined that the piezoelectric sensor does not meet the requirements.

[0207] 12100, select M piezoelectric sensors that meet the requirements from the N piezoelectric sensors.

[0208] The number of the piezoelectric sensors may be N.

[0209] 12110, determine the mean and standard deviation of the calibration coefficients of the M piezoelectric sensors.

[0210] 12120, determine the coefficient of dispersion of the M piezoelectric sensors according to the mean and the standard deviation.

[0211] 12130a, when the discrete coefficient is less than or equal to a preset threshold, determine whether the consistency of the M piezoelectric sensors meets the requirements.

[0212] 12130b, when the discrete coefficient is greater than a preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors are eliminated until the discrete coefficient is less than or equal to the preset threshold.

[0213] The contents of step 1210 to step 12130 can refer to the relevant description above, and this application will not repeat them 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 15 The 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, a transfer module 3020, an acquisition module 3030 and a processing module 3040.

[0217] The impact module 3010 is used to impact the force sensor and the transmission module multiple times;

[0218] A transmission module 3020, for transmitting multiple impacts to the piezoelectric sensor;

[0219] An acquisition module 3030 is 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;

[0220] The processing module 3040 is used to calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0221] In some embodiments of the present application, the processing module 3040 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.

[0222] In some embodiments of the present application, the processing module 3040 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.

[0223] In some embodiments of the present application, the processing module 3040 is also used to: determine that the piezoelectric sensor meets the requirements when the calibration coefficient of the piezoelectric sensor is within a preset calibration range; or determine that the piezoelectric sensor does not meet the requirements when the calibration coefficient of the piezoelectric sensor is outside the preset calibration range, wherein the preset calibration range is determined based on the use requirements of the piezoelectric sensor.

[0224] In some embodiments of the present application, the processing module 3040 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.

[0225] In some embodiments of the present application, the processing module 3040 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 is unqualified, so as to adjust the calibration device.

[0226] In some embodiments of the present application, the processing module 3040 is used to: determine multiple second frequency values ​​based on the piezoelectric response signal, the multiple second frequency values ​​are 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 piezoelectric sensor meets the requirements; or, when there are frequency values ​​outside the second preset range in the multiple second frequency values, determine that the piezoelectric sensor does not meet the requirements, wherein the second preset range is determined based on the use requirements of the piezoelectric sensor.

[0227] In some embodiments of the present application, the number of piezoelectric sensors is N, and the processing module 3040 is also used to: select M piezoelectric sensors that meet the requirements from the N piezoelectric sensors, 1<M≤N and M is an integer; determine the mean and standard deviation of the calibration coefficients of the M piezoelectric sensors; determine the discrete coefficient of the M piezoelectric sensors based on the mean and the standard deviation; when the discrete coefficient is less than or equal to a preset threshold, determine that the consistency of the M piezoelectric sensors meets the requirements; or, when the discrete coefficient is greater than or equal to the preset threshold, eliminate the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors until the discrete coefficient is less than or equal to the preset threshold.

[0228] In some embodiments of the present application, the impact module 3010 includes an impact force generating module 3011 for generating impact force for multiple impacts on the force sensor and the transmission module 3020 .

[0229] In some embodiments of the present application, the impact module 3010 also includes an impact head 3012, which is disposed on the impact force generating module 3011, and the transmission module 3020 is disposed below the impact head 3012, so that the impact force generating module 3011 drives the impact head 3012 to impact the transmission module 3020 multiple times.

[0230] In some embodiments of the present application, the transfer module 3020 includes an impact position 3021 , which is disposed below the impact head 3012 , so that the impact force generating module 3011 drives the impact head 3012 to impact the impact position 3021 multiple times.

[0231] In some embodiments of the present application, the impact module 3010 also 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 fixed between the impact rod 3013 and the impact head 3012, and both the impact head 3012 and the impact rod 3013 are in contact with the force sensor.

[0232] In some embodiments of the present application, the transfer module 3020 further includes: a placement position 3021 for placing and fixing the piezoelectric sensor.

[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, a transmission module 3020, an acquisition module 3030 and a processing module 3040. The impact module 3010 is used to impact the force sensor and the transmission module multiple times; the transmission module 3020 is used to transmit the multiple impacts to the piezoelectric sensor; the acquisition module 3030 is used to acquire the force response signal of the force sensor under multiple impacts and the piezoelectric response signal of the piezoelectric sensor under multiple impacts; the processing module 3040 is used to calibrate the piezoelectric sensor according to the force response signal and the piezoelectric response signal.

[0235] The function of the processing module 3040 can be referred to Fig.13 The description in , this application will not be repeated here.

[0236] In some embodiments of the present application, the impact module 3010 includes an impact force generating module 3011 for generating impact force for multiple impacts on the force sensor and the transmission module 3020 .

[0237] In some embodiments of the present application, the impact module 3010 also includes an impact head 3012, which is disposed on the impact force generating module 3011, and the transmission module 3020 is disposed below the impact head 3012, so that the impact force generating module 3011 drives the impact head 3012 to impact the transmission module 3020 multiple times.

[0238] In some embodiments of the present application, the transfer module 3020 includes an impact position 3021 , and the impact position 3021 is disposed below the impact head 3012 , so that the impact force generating module 3011 drives the impact head 3012 to impact the impact position 3021 .

[0239] In some embodiments of the present application, the impact module 3010 also 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 fixed between the impact rod 3013 and the impact head 3012, and both the impact head 3012 and the impact rod 3013 are in contact with the force sensor.

[0240] In some embodiments of the present application, the transfer module 3020 further includes: a placement position 3021 for placing and fixing the piezoelectric sensor.

[0241] In some embodiments of the present application, the calibration device further includes a shock-proof adjustment block 3050 , a base 3060 , a support column 3070 , a pressure block 3080 and a support 3090 .

[0242] The anti-vibration adjustment block 3050 can be used to reduce the mechanical vibration interference of the external environment on the calibration device and reduce the interference signal to the calibration device. The base 3060 can be used to install other components, for example, it can be used to install the transfer module 3020. The anti-vibration adjustment block 3050 can be connected (such as bolted) to the base 3060. The support column 3070 can be used to support the transfer module 3020 and realize the connection between the transfer module 3020 and the base 3060. The pressure block 3080 is used to fasten the transfer module 3020 to the support column 3070. The support 3090 is used to position and fix the impact module 3010 on the base 3060. For example, the support 3090 can be connected to the base 3060 by bolts, and the support 3090 can be connected to the impact module 3010 by bolts.

[0243] In some embodiments of the present application, the calibration device further includes a piezoelectric sensor fixing component 3051 , such as a bolt, for fixing the piezoelectric sensor at the placement position 3021 .

[0244] In some embodiments of the present application, the calibration device may further include a plurality of positioning pins. For example, a positioning pin for positioning the transfer module 3020 on the base 3060. For example, a positioning pin for positioning the impact module 3010 on the support 3090. For example, a positioning pin for positioning the impact module 3010 on the base 3060.

[0245] The following is an exemplary introduction to the tooling assembly process of the calibration device.

[0246] The base 3060 is assembled with four anti-vibration adjustment blocks 3050, and the two are connected by nuts. Then, positioning pins are installed, such as the positioning pins on the base 3060 and the positioning pins on the support 3090, so that the positioning pins can be used to accurately assemble the positions of the components.

[0247] The force sensor is assembled onto the impact rod 3013 connected to the impact force generating module 3011, and then a suitable impact head 3012 is selected and assembled onto the force sensor to realize the assembly of the impact module.

[0248] The support 3090 is first positioned on the base 3060 by means of positioning pins, the support 3090 and the base 3060 are fixedly connected by bolts, and then the impact module is positioned on the support 3090 by means of positioning pins, and the impact module and the support 3090 are connected by bolts, so that the impact module can be installed on the base 3060.

[0249] The support column 3070 is fixedly connected to the base 3060, and the transfer module is assembled onto the positioning pin fixed to the base 3060. The pressure block 3080 is used to assemble the transfer module and the support column 3070. The pressure block 3080, the transfer component and the support column 3070 are fastened by bolts, thereby completing the positioning and fastening installation of the transfer component.

[0250] The piezoelectric sensor is placed in the sensor placement position 3012 in the transmission component, and the piezoelectric sensor and the transmission component are assembled by bolts, thereby achieving the positioning and tightening of the piezoelectric sensor.

[0251] If the piezoelectric sensor is coated with structural adhesive at the bottom during actual use, the structural adhesive may be coated on the bottom of the piezoelectric sensor to simulate the actual situation during calibration.

[0252] 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.

[0253] The memory 4020 may be a separate device independent of the processor 4010 , or may be integrated into the processor 4010 .

[0254] Alternatively, if Fig.15 As 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.

[0255] 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.

[0256] 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.

[0257] An embodiment of the present application also provides a computer-readable storage medium for storing a computer program.

[0258] 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.

[0259] An embodiment of the present application also provides a computer program product, including computer program instructions.

[0260] 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.

[0261] The embodiment of the present application also provides a computer program.

[0262] 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.

[0263] 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.

[0264] 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.

[0265] 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.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] 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 transmission module, wherein the transmission module is used to transmit the multiple impacts to the piezoelectric sensor; 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: Calibrating the piezoelectric sensor according to the force response signal and the piezoelectric response signal includes: 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 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 piezoelectric sensor does not meet the requirements, The preset calibration range is determined according to the use requirements of the piezoelectric sensor.

5. The calibration method according to any one of claims 1 to 4, 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 in the frequency domain corresponding to the plurality of impacts; 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.

6. The calibration method according to claim 5, 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.

7. The calibration method according to any one of claims 1 to 6, 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 piezoelectric sensor meets the requirements; or, In the case that the plurality of second frequency values ​​have a frequency value outside the second preset range, it is determined that the piezoelectric sensor does not meet the requirements, Wherein, the second preset range is determined according to the use requirements of the piezoelectric sensor.

8. The calibration method according to claim 4 or 7, characterized in that: The number of the piezoelectric sensors is N, and the calibration method further includes: Select M piezoelectric sensors that meet the requirements from N piezoelectric sensors, where 1<M≤N and M is an integer; Determining a mean and a standard deviation of calibration coefficients of the M piezoelectric sensors; Determine the coefficient of dispersion of the M piezoelectric sensors according to the mean and the standard deviation; When the discrete coefficient is less than or equal to a preset threshold, determining that the consistency of the M piezoelectric sensors meets the requirement; or, When the discrete coefficient is greater than the preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors are eliminated until the discrete coefficient is less than or equal to the preset threshold.

9. The calibration method according to any one of claims 1 to 8, characterized in that: The multiple impacts on the force sensor and the transmission module include: 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 transmission module.

10. The calibration method according to claim 9, characterized in that: The multiple impacts on the force sensor and the transmission module include: The impact force generating module is used to drive the impact head to move, and the multiple impacts are performed on the transmission module, wherein the impact head is arranged on the impact force generating module, and the transmission module is arranged below the impact head.

11. The calibration method according to claim 10, characterized in that: The method of using the impact force generating module to drive the impact head to move and perform the multiple impacts on the transmission module includes: The impact force generating module is used to drive the impact head to move, and the impact position of the transmission module is impacted multiple times, and the impact position is arranged below the impact head.

12. The calibration method according to claim 10 or 11, characterized in that: Before the force sensor and the transmission module are impacted multiple times, the calibration method further includes: The force sensor is fixed between the impact head and the impact rod, the impact rod is arranged between the impact force generating module and the impact head, the impact head and the impact rod are both in contact with the force sensor, and the impact rod is arranged on the impact force generating module.

13. The calibration method according to any one of claims 9 to 12, characterized in that: Before the force sensor and the transmission module are impacted multiple times, the calibration method further includes: The piezoelectric sensor is placed and fixed on the placement position of the transmission module.

14. A piezoelectric sensor calibration device, characterized in that: include: An impact module, used for impacting the force sensor and the transmission module multiple times; The transmission module is used to transmit the multiple impacts to the 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.

15. The calibration device according to claim 14, 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.

16. The calibration device according to claim 15, 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.

17. The calibration device according to any one of claims 14 to 16, characterized in that: The processing module is also used for: When the calibration coefficient of the piezoelectric sensor is within a preset calibration range, determining that 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 piezoelectric sensor does not meet the requirements, The preset calibration range is determined according to the use requirements of the piezoelectric sensor.

18. The calibration device according to any one of claims 14 to 17, 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 in the frequency domain corresponding to the plurality of impacts; 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.

19. The calibration device according to claim 18, 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 is unqualified, so that the calibration device is adjusted.

20. The calibration device according to any one of claims 14 to 19, 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 piezoelectric sensor meets the requirements; or, In the case that the plurality of second frequency values ​​have a frequency value outside the second preset range, it is determined that the piezoelectric sensor does not meet the requirements, Wherein, the second preset range is determined according to the use requirements of the piezoelectric sensor.

21. The calibration device according to claim 17 or 20, characterized in that: The number of the piezoelectric sensors is N, and the processing module is further used for: Select M piezoelectric sensors that meet the requirements from N piezoelectric sensors, where 1<M≤N and M is an integer; Determining a mean and a standard deviation of calibration coefficients of the M piezoelectric sensors; Determine the coefficient of dispersion of the M piezoelectric sensors according to the mean and the standard deviation; When the discrete coefficient is less than or equal to a preset threshold, determining that the consistency of the M piezoelectric sensors meets the requirement; or, When the discrete coefficient is greater than or equal to a preset threshold, the piezoelectric sensors with the largest and / or smallest calibration coefficients among the M piezoelectric sensors are eliminated until the discrete coefficient is less than or equal to the preset threshold.

22. The calibration device according to any one of claims 14 to 21, characterized in that: The impact module includes an impact force generating module, which is used to generate impact force for performing the multiple impacts on the force sensor and the transmission module.

23. The calibration device according to claim 22, characterized in that: The impact module also includes an impact head, which is arranged on the impact force generating module, and the transmission module is arranged below the impact head, so that the impact force generating module drives the impact head to perform the multiple impacts on the transmission module.

24. The calibration device according to claim 23, characterized in that: The transfer module comprises an impact position, and the impact position is arranged below the impact head, so that the impact generation module drives the impact head to perform the multiple impacts on the impact position.

25. The calibration device according to claim 23 or 24, characterized in that: The impact module further includes an impact rod, which is disposed between the impact force generating module and the impact head. The force sensor is fixed between the impact rod and the impact head, and both the impact head and the impact rod are in contact with the force sensor.

26. The calibration device according to any one of claims 22 to 25, characterized in that: The transmission module also includes: The placement position is used to place and fix the piezoelectric sensor.

27. 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 13 according to the instructions.

28. 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 13.

29. 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 13.

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