A self-compensation system for installation errors of multi-point displacement sensors

Abstract

The present invention discloses a multi-point displacement sensor installation error self-compensation system, which specifically relates to the technical field of error self-compensation. The system obtains positioning information of the multi-point displacement sensor, calculates a positioning error coefficient according to the positioning information of the multi-point displacement sensor, obtains installation angle deviation information of the multi-point displacement sensor, calculates an installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor, obtains vibration anomaly information of the multi-point displacement sensor, calculates a vibration anomaly coefficient according to the vibration anomaly information of the multi-point displacement sensor, and obtains an impact depth assessment index according to the positioning error coefficient, the installation angle deviation coefficient, and the vibration anomaly coefficient, evaluates the impact of the sensor installation error on the existing error self-compensation system, adjusts the compensation strategy according to the real-time situation, and ensures flexibility and adaptability under different environmental conditions and error sources.

Description

Technical Field

[0001] The present invention relates to the technical field of error self-compensation, and more specifically, to a multi-point displacement sensor installation error self-compensation system. Background Art

[0002] With the continuous development of industrial automation, robotics, precision manufacturing, and intelligent detection, multi-point displacement sensors are increasingly used in measurement systems. These sensors are usually used to monitor the displacement changes of equipment, detect the motion state of the system, or perform deformation analysis of the structure. They are characterized by high precision, real-time performance, and high sensitivity. However, in practical applications, especially when multiple sensors work together, it is often difficult to ensure that the output data of each sensor is completely accurate due to environmental factors, installation errors, sensor performance differences, and mutual interference. These errors not only affect the measurement accuracy of the sensor itself, but may also lead to a decline in the overall system performance, and even cause system failure in severe cases. Sensor installation error is an important source of error in multi-point displacement sensor systems. Due to factors such as unevenness during installation, sensor positioning error, installation angle deviation, and vibration, the relative position and angle between sensors may change. These errors may accumulate between multiple sensors and affect each other, resulting in a significant decrease in overall measurement accuracy.

[0003] At present, although some installation error self-compensation systems have been applied to the field of multi-point displacement sensors, most existing systems have not yet been able to dynamically and adaptively compensate the collected data according to the degree of influence of sensor installation errors. This results in the system being unable to adjust the compensation strategy in real time when the sensor is offset due to installation errors, environmental changes or other factors, thus affecting the accuracy and reliability of the final measurement results. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a multi-point displacement sensor installation error self-compensation system to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-point displacement sensor installation error self-compensation system, comprising a positioning error module, an installation angle deviation module, a vibration impact assessment module, an impact depth assessment module, and an adaptive compensation module;

[0007] A positioning error module is used to obtain positioning information of the multi-point displacement sensor and calculate a positioning error coefficient according to the positioning information of the multi-point displacement sensor;

[0008] An installation angle deviation module is used to obtain the installation angle deviation information of the multi-point displacement sensor and calculate the installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor;

[0009] A vibration impact assessment module is used to obtain vibration abnormality information of the multi-point displacement sensor and calculate a vibration abnormality coefficient according to the vibration abnormality information of the multi-point displacement sensor;

[0010] The impact depth assessment module obtains the impact depth assessment index based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient to assess the impact of the sensor installation error on the existing error self-compensation system;

[0011] The adaptive compensation module is used to dynamically adjust the adaptive compensation strategy according to the influence of the sensor installation error.

[0012] In a preferred embodiment, the logic for obtaining the positioning error coefficient is as follows:

[0013] Get the coordinate vector P of the predetermined installation position of the multi-point displacement sensor ideal =[x ideal ,y ideal ,z ideal ];

[0014] In the actual installation process of the multi-point displacement sensor, a three-dimensional coordinate measuring instrument is used to obtain the actual installation position coordinate vector P of the multi-point displacement sensor. actual =[x actual ,y actual ,z actual ];

[0015] Calculate the module length of the installation position difference ||ΔP||, the expression is as follows

[0016] Calculate the positioning error coefficient asn, the expression is as follows Where RY represents the maximum allowable deviation value.

[0017] In a preferred embodiment, the logic for obtaining the installation angle deviation coefficient is as follows:

[0018] Get the expected working direction vector V of the multi-point displacement sensor ideal =[v x ,v y ,v z ];

[0019] The actual working direction vector of the multi-point displacement sensor is obtained by a laser measuring instrument

[0020] Calculate the direction vector angle θ, the expression is as follows

[0021] Calculate the installation angle deviation coefficient fvc, the expression is as follows where θ max Indicates the maximum allowable installation angle deviation.

[0022] In a preferred embodiment, the logic for obtaining the vibration abnormality coefficient is as follows:

[0023] Get the acceleration of multi-point displacement sensor through acceleration sensor js t , where js t represents the acceleration at the tth moment;

[0024] Calculate the average acceleration The expression is as follows

[0025] Calculate the acceleration standard deviation σ, the expression is as follows

[0026] Calculate the vibration abnormality coefficient lgn, the expression is as follows

[0027] In a preferred embodiment, the impact depth assessment index is obtained according to the positioning error coefficient, the installation angle deviation coefficient, and the vibration abnormality coefficient, and the calculation formula is:

[0028]

[0029] Wherein, Yxd is the impact depth assessment index, asn, fvc, and lgn are the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient, respectively; a1, a2, and a3 are the preset proportional coefficients of the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient, respectively, and a1, a2, and a3 are all greater than 0.

[0030] In a preferred embodiment, the impact depth assessment index is compared with a preset impact depth assessment index threshold to evaluate the impact of the sensor installation error on the existing error self-compensation system. If the impact depth assessment index is greater than the impact depth assessment index threshold, a first-level impact depth signal is generated; if the impact depth assessment index is less than or equal to the impact depth assessment index threshold, a second-level impact depth signal is generated.

[0031] Technical effects and advantages of the present invention:

[0032] 1. The present invention obtains the positioning information of the multi-point displacement sensor, calculates the positioning error coefficient according to the positioning information of the multi-point displacement sensor, obtains the installation angle deviation information of the multi-point displacement sensor, calculates the installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor, obtains the vibration abnormality information of the multi-point displacement sensor, and calculates the vibration abnormality coefficient according to the vibration abnormality information of the multi-point displacement sensor, and obtains the influence depth assessment index according to the positioning error coefficient, the installation angle deviation coefficient, and the vibration abnormality coefficient, and evaluates the influence of the sensor installation error on the existing error self-compensation system. The dynamic assessment of the influence of the sensor installation error can adjust the compensation strategy according to the real-time situation. Different from the traditional static compensation method, this technology judges the strength and method of the compensation strategy in real time through the influence depth assessment index, ensuring flexibility and adaptability under different environmental conditions and error sources. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0034] Figure 1 Schematic diagram of the structure of the system of the embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Embodiment: The present invention provides as Figure 1 A multi-point displacement sensor installation error self-compensation system shown includes a positioning error module, an installation angle deviation module, a vibration impact assessment module, an impact depth assessment module, and an adaptive compensation module;

[0037] A positioning error module is used to obtain positioning information of the multi-point displacement sensor and calculate a positioning error coefficient according to the positioning information of the multi-point displacement sensor;

[0038] An installation angle deviation module is used to obtain the installation angle deviation information of the multi-point displacement sensor and calculate the installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor;

[0039] A vibration impact assessment module is used to obtain vibration abnormality information of the multi-point displacement sensor and calculate a vibration abnormality coefficient according to the vibration abnormality information of the multi-point displacement sensor;

[0040] The impact depth assessment module obtains the impact depth assessment index based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient to assess the impact of the sensor installation error on the existing error self-compensation system;

[0041] An adaptive compensation module is used to dynamically adjust the adaptive compensation strategy according to the influence of the sensor installation error;

[0042] A positioning error module is used to obtain positioning information of the multi-point displacement sensor and calculate a positioning error coefficient according to the positioning information of the multi-point displacement sensor;

[0043] The positioning error coefficient is used to measure the degree of measurement error caused by position deviation during the installation of the multi-point displacement sensor. It indicates the influence of the difference between the actual installation position of the sensor and the ideal installation position on the sensor measurement result. A larger positioning error coefficient indicates that there is a significant deviation in the installation position of the multi-point sensor, which may lead to a larger error in the measurement result, thereby affecting the stability and accuracy of the system, and the deeper the impact on the existing error self-compensation system; a smaller positioning error coefficient indicates that the sensor installation accuracy is higher, the measurement result is relatively accurate, and the error has less impact on the system;

[0044] The logic for obtaining the positioning error coefficient is as follows:

[0045] Get the coordinate vector P of the predetermined installation position of the multi-point displacement sensor ideal =[x ideal ,y ideal ,z ideal ];

[0046] In the actual installation process of the multi-point displacement sensor, a three-dimensional coordinate measuring instrument is used to obtain the actual installation position coordinate vector P of the multi-point displacement sensor. actual =[x actual ,y actual ,z actual ];

[0047] Calculate the module length of the installation position difference ||ΔP||, the expression is as follows

[0048] Calculate the positioning error coefficient asn, the expression is as follows Where RY represents the maximum allowable deviation value;

[0049] An installation angle deviation module is used to obtain the installation angle deviation information of the multi-point displacement sensor and calculate the installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor;

[0050] The installation angle deviation coefficient is used to measure the degree of measurement error caused by the installation angle deviation during the installation of the multi-point displacement sensor. It indicates the impact of the difference between the actual installation angle of the sensor and the ideal installation angle on the sensor's measurement results. The deviation of the installation angle may cause the sensor's measurement direction to deviate, causing the sensor to produce errors when sensing the displacement of the object, thereby affecting the accuracy and stability of the entire measurement system; a larger angle deviation coefficient: indicates that the difference between the sensor's installation angle and the ideal angle is large, which may significantly affect the sensor's measurement direction and measurement results, resulting in a larger measurement error, thereby affecting the overall accuracy and stability of the system, and the greater the impact on the existing error self-compensation system; a smaller angle deviation coefficient: indicates that the sensor's installation angle is close to the ideal angle, the error has less impact on the system, the measurement results are relatively accurate, and the system's stability is higher;

[0051] The installation angle deviation coefficient can quantify the measurement error caused by the inaccurate installation angle of the sensor, help evaluate the impact of angle deviation on measurement accuracy, and provide a basis for dynamic adjustment of the error compensation system. Through real-time monitoring of this coefficient and adjustment of the compensation strategy, the measurement accuracy of the multi-point displacement sensor system can be effectively improved, ensuring the stability and reliability of the system in a variety of complex environments;

[0052] The logic for obtaining the installation angle deviation coefficient is as follows:

[0053] Get the expected working direction vector V of the multi-point displacement sensor ideal =[v x ,v y ,v z ];

[0054] The actual working direction vector of the multi-point displacement sensor is obtained by a laser measuring instrument

[0055] Calculate the direction vector angle θ, the expression is as follows

[0056] Calculate the installation angle deviation coefficient fvc, the expression is as follows where θ max Indicates the maximum allowable installation angle deviation;

[0057] A vibration impact assessment module is used to obtain vibration abnormality information of the multi-point displacement sensor and calculate a vibration abnormality coefficient according to the vibration abnormality information of the multi-point displacement sensor;

[0058] The vibration anomaly coefficient is used to measure the degree of measurement error caused by environmental vibration or external interference factors during the operation of the multi-point displacement sensor. Abnormal vibration may cause noise or fluctuations in the sensor signal, thus affecting its measurement accuracy and stability. The vibration anomaly coefficient can quantify this influence and provide feedback information for the adaptive compensation system to dynamically adjust the compensation strategy to ensure the accurate measurement of the sensor system. A larger vibration anomaly coefficient indicates that the sensor is subjected to strong environmental vibration during operation, which may cause obvious fluctuations or distortion in the sensor signal, thus having a greater impact on the measurement results, and may cause a decrease in measurement accuracy, and the greater the impact on the existing error self-compensation system; a smaller vibration anomaly coefficient indicates that the environmental vibration has less impact on the sensor, the sensor's measurement results are relatively stable, the system accuracy is higher, and the error is smaller;

[0059] The vibration anomaly coefficient helps evaluate the stability of the sensor by quantifying the impact of vibration on the sensor's measurement results, and provides important input information for the adaptive compensation system. This coefficient can be calculated based on the vibration standard deviation and spectrum analysis results to dynamically evaluate the impact of vibration on measurement accuracy, thereby ensuring the measurement accuracy and reliability of the multi-point displacement sensor system in a vibration environment;

[0060] The logic for obtaining the vibration abnormality coefficient is as follows:

[0061] Get the acceleration of multi-point displacement sensor through acceleration sensor js t , where js t represents the acceleration at the tth moment;

[0062] Calculate the average acceleration The expression is as follows

[0063] Calculate the acceleration standard deviation σ, the expression is as follows

[0064] Calculate the vibration abnormality coefficient lgn, the expression is as follows

[0065] The impact depth assessment module obtains the impact depth assessment index based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient to assess the impact of the sensor installation error on the existing error self-compensation system;

[0066] The impact depth assessment index is obtained based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient. The calculation formula is:

[0067]

[0068] Wherein, Yxd is the impact depth assessment index, asn, fvc, lgn are positioning error coefficient, installation angle deviation coefficient, vibration abnormality coefficient, a1, a2, a3 are preset proportional coefficients of positioning error coefficient, installation angle deviation coefficient, vibration abnormality coefficient, and a1, a2, a3 are all greater than 0;

[0069] It should be noted that before calculating the impact depth assessment index, it is necessary to ensure that the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient are all normalized. Common normalization methods include Min-Max normalization and Z-Score standardization. a1, a2, and a3 are set according to actual conditions. For example, the expert empowerment method is adopted, that is, experts in related fields are invited to determine the preset proportional coefficients of various indicators through professional opinion surveys and comprehensive evaluations;

[0070] It can be seen from the above calculation expression that the larger the positioning error coefficient, the larger the installation angle deviation coefficient, and the larger the vibration abnormality coefficient, the larger the impact depth evaluation index, indicating that the sensor installation error has a greater impact on the existing error self-compensation system. Conversely, the smaller the positioning error coefficient, the smaller the installation angle deviation coefficient, and the smaller the vibration abnormality coefficient, the smaller the impact depth evaluation index, indicating that the sensor installation error has a lesser impact on the existing error self-compensation system.

[0071] The impact depth assessment index is compared with a preset impact depth assessment index threshold to assess the impact of the sensor installation error on the existing error self-compensation system. If the impact depth assessment index is greater than the impact depth assessment index threshold, it indicates that the sensor installation error has a great impact on the existing error self-compensation system, and a first-level impact depth signal is generated; if the impact depth assessment index is less than or equal to the impact depth assessment index threshold, it indicates that the sensor installation error has a small impact on the existing error self-compensation system, and a second-level impact depth signal is generated;

[0072] It should be noted that the impact depth represented by the first-level impact depth signal is greater than that represented by the second-level impact depth signal;

[0073] An adaptive compensation module is used to dynamically adjust the adaptive compensation strategy according to the influence of the sensor installation error;

[0074] When generating the first-level impact depth signal, the installation error of the multi-point displacement sensor has a great influence on the existing error self-compensation system, and strong dynamic compensation is required, such as dynamic calibration: real-time adjustment of the readings of the multi-point displacement sensor, and correction of the sensor data using the calibration model or adjustment algorithm; weighted adjustment: according to the importance of the error source (such as positioning error, installation angle deviation, vibration interference, etc.), different weights are assigned to different sensors, and the synthesis result of the multi-sensor data is adjusted by weighted average; real-time feedback correction: if the system can interact with the hardware part of the sensor, it may also reduce the error through hardware adjustment (such as sensor fine-tuning or repositioning);

[0075] When generating the secondary impact depth signal, the installation error of the multi-point displacement sensor has a small impact on the existing error self-compensation system, and a relatively mild compensation method can be adopted, such as small adjustment: the system only needs to make a small compensation, which may be to adjust some coefficients in the data synthesis model of the sensor or use a simple weighted average method; regular inspection: reduce the frequency of compensation adjustment, adopt regular calibration or error control strategy to avoid excessive adjustment; dynamic filtering: use simple filtering technology, such as weighted moving average or median filtering, in data synthesis to reduce the impact of errors on the final output;

[0076] The present invention obtains positioning information of a multi-point displacement sensor, calculates a positioning error coefficient according to the positioning information of the multi-point displacement sensor, obtains installation angle deviation information of the multi-point displacement sensor, calculates an installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor, obtains vibration anomaly information of the multi-point displacement sensor, calculates a vibration anomaly coefficient according to the vibration anomaly information of the multi-point displacement sensor, and obtains an impact depth assessment index according to the positioning error coefficient, the installation angle deviation coefficient, and the vibration anomaly coefficient, and assesses the impact of the sensor installation error on the existing error self-compensation system. The dynamic assessment of the impact of the sensor installation error can adjust the compensation strategy according to the real-time situation. Different from the traditional static compensation method, the technology judges the strength and method of the compensation strategy in real time through the impact depth assessment index, thereby ensuring flexibility and adaptability under different environmental conditions and error sources.

[0077] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0078] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0079] 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.

[0080] 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 can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0081] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A multi-point displacement sensor installation error self-compensation system, characterized by: Including positioning error module, installation angle deviation module, vibration impact assessment module, impact depth assessment module, and adaptive compensation module; A positioning error module is used to obtain positioning information of the multi-point displacement sensor and calculate a positioning error coefficient according to the positioning information of the multi-point displacement sensor; An installation angle deviation module is used to obtain the installation angle deviation information of the multi-point displacement sensor and calculate the installation angle deviation coefficient according to the installation angle deviation information of the multi-point displacement sensor; A vibration impact assessment module is used to obtain vibration abnormality information of the multi-point displacement sensor and calculate a vibration abnormality coefficient according to the vibration abnormality information of the multi-point displacement sensor; The impact depth assessment module obtains the impact depth assessment index based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient to assess the impact of the sensor installation error on the existing error self-compensation system; The adaptive compensation module is used to dynamically adjust the adaptive compensation strategy according to the influence of the sensor installation error.

2. A multi-point displacement sensor installation error self-compensation system according to claim 1, characterized in that: The logic for obtaining the positioning error coefficient is as follows: Get the coordinate vector P of the predetermined installation position of the multi-point displacement sensor ideal =[x ideal ,y ideal ,z ideal ]; In the actual installation process of the multi-point displacement sensor, a three-dimensional coordinate measuring instrument is used to obtain the actual installation position coordinate vector P of the multi-point displacement sensor. actual =[x actual ,y actual ,z actual ]; Calculate the module length of the installation position difference ||ΔP||, the expression is as follows Calculate the positioning error coefficient asn, the expression is as follows Where RY represents the maximum allowable deviation value.

3. A multi-point displacement sensor installation error self-compensation system according to claim 1, characterized in that: The logic for obtaining the installation angle deviation coefficient is as follows: Get the expected working direction vector V of the multi-point displacement sensor ideal =[v x ,v y ,v z ]; The actual working direction vector of the multi-point displacement sensor is obtained by a laser measuring instrument Calculate the direction vector angle θ, the expression is as follows Calculate the installation angle deviation coefficient fvc, the expression is as follows where θ max Indicates the maximum allowable installation angle deviation.

4. A multi-point displacement sensor installation error self-compensation system according to claim 1, characterized in that: The logic for obtaining the vibration abnormality coefficient is as follows: Get the acceleration of multi-point displacement sensor through acceleration sensor js t , where js t represents the acceleration at the tth moment; Calculate the average acceleration The expression is as follows Calculate the acceleration standard deviation σ, the expression is as follows Calculate the vibration abnormality coefficient lgn, the expression is as follows 5. The multi-point displacement sensor installation error self-compensation system according to claim 1, characterized in that: The impact depth assessment index is obtained based on the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient. The calculation formula is: Wherein, Yxd is the impact depth assessment index, asn, fvc, and lgn are the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient, respectively; a1, a2, and a3 are the preset proportional coefficients of the positioning error coefficient, installation angle deviation coefficient, and vibration abnormality coefficient, respectively, and a1, a2, and a3 are all greater than 0.

6. A multi-point displacement sensor installation error self-compensation system according to claim 5, characterized in that: The impact depth assessment index is compared with the preset impact depth assessment index threshold to evaluate the impact of the sensor installation error on the existing error self-compensation system. If the impact depth assessment index is greater than the impact depth assessment index threshold, a first-level impact depth signal is generated; if the impact depth assessment index is less than or equal to the impact depth assessment index threshold, a second-level impact depth signal is generated.

Images