Signal adjustment method and device, equipment and storage medium

Abstract

The invention discloses a signal adjustment method and device, equipment and a storage medium, and relates to the technical field of encoder calibration, and the method comprises the steps: obtaining a sensing signal transmitted by an encoder on a preset circuit board; the sensing signal is a signal obtained after the encoder processes an original signal of a target sensing source collected by a sensor on the preset circuit board in real time; judging whether the target waveform parameter of the sensing signal meets a preset target waveform condition or not; if the target waveform parameter does not meet the preset target waveform condition, the distance between the preset circuit board and the target sensing source in the preset target direction is adjusted, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a predetermined direction corresponding to the preset target waveform condition. In this way, the accuracy and stability of the encoder signal can be improved, and meanwhile the processing pressure on the software optimization signal is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of encoder calibration, and in particular to a signal adjustment method, device, equipment and storage medium. Background Art

[0002] As an angle feedback device, the encoder can use the sensor on the encoder to detect the position change of the magnet on the rotating shaft to obtain sine and cosine signals. The encoder MCU (Microcontroller Unit) then performs angle analysis on the sine and cosine signals and finally outputs the angle. Due to actual assembly errors, material design tolerances, and the encoder PCB (Printed Circuit Board) patch tolerances, the collected sine and cosine signals will be distorted in amplitude and offset, resulting in poor encoder angle output accuracy.

[0003] At present, the solution to the distortion of sine and cosine signals caused by assembly tolerance is generally software compensation, that is, collecting the offset and amplitude of sine and cosine signals in a certain period, and using software to compensate for the deviation in real time to achieve the purpose of compensating the angle deviation. However, the real-time performance of software optimization is poor, the output angle accuracy is poor before data is collected, and the accuracy of the data collected by the software cannot be guaranteed, resulting in angle solution deviation.

[0004] In summary, how to improve the accuracy of encoder signals is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of this, the object of the present invention is to provide a signal adjustment method, device, equipment and storage medium, which can improve the accuracy of encoder signals. The specific scheme is as follows:

[0006] In a first aspect, the present application provides a signal adjustment method, comprising:

[0007] Acquire a sensor signal transmitted by an encoder on a preset circuit board; the sensor signal is a signal obtained by the encoder processing an original signal of a target sensor source collected in real time by a sensor on the preset circuit board;

[0008] Determining whether the target waveform parameters of the sensing signal meet preset target waveform conditions;

[0009] If the target waveform parameters do not meet the preset target waveform conditions, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted so that the adjusted sensor signal meets the preset target waveform conditions; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform conditions.

[0010] Optionally, the step of obtaining a sensor signal transmitted by an encoder on a preset circuit board includes:

[0011] The target sensing source is detected in real time by the sensor on the preset circuit board to obtain corresponding initial sensing data, and the sine signal and cosine signal of the target sensing source obtained after the encoder processes the initial sensing data are obtained.

[0012] Optionally, the initial sensing data includes position change data of the target sensing source.

[0013] Optionally, determining whether a target waveform parameter of the sensing signal meets a preset target waveform condition includes:

[0014] According to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Z-axis direction of the preset spatial coordinate system, a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal are respectively determined; the preset spatial coordinate system is a spatial coordinate system constructed with the vertical connection direction of the preset circuit board and the target sensor source as the Z-axis direction, the left-right direction as the X-axis direction, and the front-back direction as the Y-axis direction;

[0015] If the first target waveform amplitude and / or the second target waveform amplitude exceeds a preset amplitude threshold, determining that the sensing signal does not meet a preset target waveform condition;

[0016] Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes:

[0017] The distance between the preset circuit board and the target sensing source in the Z-axis direction is adjusted based on the preset amplitude threshold.

[0018] Optionally, determining whether a target waveform parameter of the sensing signal meets a preset target waveform condition includes:

[0019] Determine a first target waveform bias corresponding to the sinusoidal signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the X-axis direction of the preset spatial coordinate system;

[0020] If the first target waveform offset deviates from the first preset center of the circle, it is determined that the sinusoidal signal does not meet the preset target waveform condition;

[0021] Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes:

[0022] The distance between the preset circuit board and the target sensing source in the X-axis direction is adjusted based on the first preset circle center.

[0023] Optionally, determining whether a target waveform parameter of the sensing signal meets a preset target waveform condition includes:

[0024] Determine a second target waveform offset corresponding to the cosine signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Y-axis direction of the preset spatial coordinate system;

[0025] If the second target waveform offset deviates from the second preset center of the circle, it is determined that the cosine signal does not meet the preset target waveform condition;

[0026] Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes:

[0027] The distance between the preset circuit board and the target sensing source in the Y-axis direction is adjusted based on the second preset circle center.

[0028] Optionally, after adjusting the distance between the preset circuit board and the target sensor source in the preset target direction, the method further includes:

[0029] Jump to the step of obtaining the sensor signal transmitted by the encoder on the preset circuit board to obtain the current target sine signal and target cosine signal;

[0030] If the target sine signal and the target cosine signal meet a preset Lissajous figure condition, fixing the positions of the preset circuit board and the target sensor source so that the encoder on the preset circuit board can determine the target angle of the target sensor source in real time based on the target sine signal and the target cosine signal;

[0031] If the target sine signal and / or the target cosine signal does not satisfy the preset Lissajous figure condition, it is determined that the encoder on the preset circuit board satisfies the preset fault condition, and the sensor on the preset circuit board is controlled to stop collecting the original signal of the target sensor source.

[0032] In a second aspect, the present application provides a signal adjustment device, comprising:

[0033] A signal acquisition module, used to acquire a sensor signal transmitted by an encoder on a preset circuit board; the sensor signal is a signal obtained by the encoder processing an original signal of a target sensor source collected in real time by a sensor on the preset circuit board;

[0034] A condition judgment module, used to judge whether the target waveform parameter of the sensing signal meets a preset target waveform condition;

[0035] A signal adjustment module is used to adjust the distance between the preset circuit board and the target sensor source in a preset target direction if the target waveform parameter does not meet the preset target waveform condition, so that the adjusted sensor signal meets the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition.

[0036] In a third aspect, the present application provides an electronic device, including:

[0037] Memory, used to store computer programs;

[0038] The processor is used to execute the computer program to implement the aforementioned signal adjustment method.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned signal adjustment method is implemented.

[0040] In the present application, the sensor signal transmitted by the encoder on the preset circuit board is first obtained; the sensor signal is a signal obtained by the encoder processing the original signal of the target sensor source collected in real time by the sensor on the preset circuit board; then it is determined whether the target waveform parameter of the sensor signal meets the preset target waveform condition; finally, if the target waveform parameter does not meet the preset target waveform condition, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted so that the adjusted sensor signal meets the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition. As can be seen from the above, the present application can obtain the sensor signal of the target sensor source in real time through the sensor on the preset circuit board, and adjust the distance between the preset circuit board and the target sensor source in the preset target direction when it is determined that the target waveform parameter of the sensor signal meets the preset target waveform condition. In this way, the sensor signal collected by the encoder can be monitored in real time, and the sensor signal can be adjusted by adjusting the physical position of the preset circuit board and the target sensor source, thereby realizing the calibration of the sensor signal. In this way, the present application can improve the accuracy and stability of the encoder signal, and also reduce the processing pressure of the software optimization signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0042] Figure 1 A signal adjustment solution system architecture diagram provided for this application;

[0043] Figure 2 A flow chart of a signal adjustment method provided in this application;

[0044] Figure 3 A schematic diagram of an abnormal amplitude signal provided in this application;

[0045] Figure 4 A schematic diagram of a bias abnormality signal provided in this application;

[0046] Figure 5 A schematic diagram of the structure of a signal adjustment device provided in this application;

[0047] Figure 6 A structural diagram of an electronic device provided for this application. DETAILED DESCRIPTION

[0048] 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.

[0049] At present, the solution to the distortion of sine and cosine signals caused by assembly tolerance is generally software compensation, that is, collecting the bias and amplitude of sine and cosine signals in a certain period, and using software to compensate for the deviation in real time to achieve the purpose of compensating the angle deviation. However, the real-time performance of software optimization is poor, the output angle accuracy is poor before data is collected, and the accuracy of the data collected by the software cannot be guaranteed, resulting in angle solution deviation. To this end, the present application provides a signal adjustment scheme that can improve the accuracy of encoder signals.

[0050] The system framework used in the signal adjustment scheme of this application can be specifically referred to in Figure 1As shown, it may specifically include: an encoder PCB board (PCB, i.e., Printed Circuit Board), a sensor, a sensor source, and a calibration control system. In a specific implementation, if the sensor source is a magnet, the calibration control system may uniformly rotate the rotating shaft where the magnet is located, and then obtain the sensor signal of the magnet collected by the sensor transmitted by the encoder on the circuit board, and display and analyze the sensor signal, while calculating and displaying the amplitude and offset of the sensor signal in real time, and displaying the final angle value, and controlling the distance between the circuit board and the magnet within an appropriate range so that the sensor signal reaches a predetermined deviation.

[0051] See also Figure 2 As shown, an embodiment of the present invention discloses a signal adjustment method, which may include:

[0052] Step S11, obtaining a sensor signal transmitted by an encoder on a preset circuit board; the sensor signal is a signal obtained by the encoder processing an original signal of a target sensor source collected in real time by a sensor on the preset circuit board.

[0053] In this embodiment, the above-mentioned acquisition of the sensor signal transmitted by the encoder on the preset circuit board may include: real-time detection of the target sensor source by the sensor on the preset circuit board to obtain the corresponding initial sensor data, and obtaining the sine signal and cosine signal of the target sensor source obtained after the encoder processes the initial sensor data. Wherein, the initial sensor data may include the position change data of the target sensor source. Specifically, according to the type of the target sensor source and the parameters to be measured, a suitable sensor can be selected, and the sensor can be installed at a position where the target sensor source can be accurately detected to ensure that the signal transmission between the sensor and the target sensor source is not interfered. In a specific embodiment, when the target sensor source is a magnet, the sensor on the preset circuit board is usually a magnetic sensor, such as a Hall sensor, a magnetoresistive sensor or a magnetostrictive sensor. The calibration control system rotates the rotating shaft where the magnet is located at a constant speed. When the magnet moves relative to the sensor, a changing magnetic field is generated around the magnet, and the strength and direction of the magnetic field will change with the movement of the magnet. The magnetic sensor in the sensor can detect the changing magnetic field, and according to the change of the magnetic field, the magnetic sensor will generate a corresponding original signal. After the sensor converts the detected magnetic field changes into raw signals, the encoder can perform preprocessing operations on the raw signals, including but not limited to amplification, filtering, and digital processing, to improve the quality and readability of the signals. The encoder converts the preprocessed raw signals into sine signals and cosine signals through the signal processing circuit or algorithm contained inside. The sine signals and cosine signals generated by the encoder can then be transmitted to the calibration control system through the output interface of the encoder, for example, through the RS485 interface based on the Modbus protocol. It is understandable that the compatibility and matching between the sensor and the encoder need to be ensured. Different sensors and encoders may have different interfaces, signal formats, and transmission protocols, so proper configuration and debugging are required. When designing and wiring the circuit board, it is necessary to consider the problem of signal interference and take corresponding protective measures. For example, shielded wires, filters, etc. can be used to reduce the impact of electromagnetic interference and noise on the signal.

[0054] Step S12: determining whether the target waveform parameters of the sensing signal meet preset target waveform conditions.

[0055] See also Figure 3 and Figure 4 As shown, it is understandable that due to actual assembly errors, material design tolerances and preset circuit board patch tolerances, the collected sine and cosine signals will have distortions in amplitude and offset.

[0056] In a first specific implementation, the above-mentioned determination of whether the target waveform parameters of the sensor signal meet the preset target waveform conditions may include: determining the first target waveform amplitude corresponding to the sine signal and the second target waveform amplitude corresponding to the cosine signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Z-axis direction of the preset spatial coordinate system; the preset spatial coordinate system is a spatial coordinate system constructed with the vertical connection direction of the preset circuit board and the target sensor source as the Z-axis direction, the left-right direction as the X-axis direction, and the front-back direction as the Y-axis direction; if the first target waveform amplitude and / or the second target waveform amplitude exceeds the preset amplitude threshold, it is determined that the sensor signal does not meet the preset target waveform conditions. Specifically, the calibration control system displays and analyzes the sine signal and cosine signal transmitted by the encoder, and the sine signal waveform and cosine signal waveform can be expressed as:

[0057] ; ;

[0058] in, Determined by the parameters of the sensor, Indicates the distance between the preset circuit board and the target sensor source in the Z-axis direction of the preset spatial coordinate system. Indicates the preset angle of the target sensing source.

[0059] The calibration control system determines the maximum value and the minimum value of the sine signal waveform, and determines the first target waveform amplitude corresponding to the sine signal based on the difference between the maximum value and the minimum value of the sine signal waveform. At the same time, the calibration control system determines the maximum value and the minimum value of the cosine signal waveform, and determines the second target waveform amplitude corresponding to the cosine signal based on the difference between the maximum value and the minimum value of the cosine signal waveform. If the first target waveform amplitude and / or the second target waveform amplitude exceeds the preset amplitude threshold, it is necessary to adjust the gap between the sensor source and the preset circuit board to adjust the amplitude of the signal.

[0060] In a second specific implementation, the above-mentioned determination of whether the target waveform parameters of the sensing signal meet the preset target waveform conditions may include: determining the first target waveform offset corresponding to the sinusoidal signal according to the parameters of the sensor, the preset angle of the target sensing source, and the distance between the preset circuit board and the target sensing source in the X-axis direction of the preset spatial coordinate system; if the first target waveform offset deviates from the first preset center of the circle, it is determined that the sinusoidal signal does not meet the preset target waveform conditions. Specifically, the calibration control system displays and analyzes the sine signal and cosine signal transmitted by the encoder, and the waveform of the sinusoidal signal can be specifically expressed as:

[0061] ;

[0062] in, Determined by the parameters of the sensor, Indicates the distance between the preset circuit board and the target sensor source in the X-axis direction of the preset spatial coordinate system. Indicates the preset angle of the target sensing source. If the calibration control system determines that the first target waveform offset of the sinusoidal signal deviates from the first preset center of the circle, it is necessary to adjust the gap between the sensing source and the preset circuit board to adjust the waveform offset of the sinusoidal signal.

[0063] In a third specific implementation, the above-mentioned determination of whether the target waveform parameters of the sensing signal meet the preset target waveform conditions may include: determining the second target waveform offset corresponding to the cosine signal according to the parameters of the sensor, the preset angle of the target sensing source, and the distance between the preset circuit board and the target sensing source in the Y-axis direction of the preset spatial coordinate system; if the second target waveform offset deviates from the second preset center of the circle, it is determined that the cosine signal does not meet the preset target waveform conditions. Specifically, the calibration control system displays and analyzes the sine signal and cosine signal transmitted by the encoder, and the cosine signal waveform can be expressed as:

[0064] ;

[0065] in, Determined by the parameters of the sensor, Indicates the distance between the preset circuit board and the target sensor source in the Y-axis direction of the preset spatial coordinate system. If the calibration control system determines that the second target waveform offset of the cosine signal deviates from the second preset center of the circle, it is necessary to adjust the gap between the sensor source and the preset circuit board to adjust the waveform offset of the cosine signal.

[0066] Step S13: If the target waveform parameters do not meet the preset target waveform conditions, adjust the distance between the preset circuit board and the target sensor source in a preset target direction so that the adjusted sensor signal meets the preset target waveform conditions; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform conditions.

[0067] In a first specific implementation, if it is determined that the first target waveform amplitude corresponding to the sine signal and / or the second target waveform amplitude corresponding to the cosine signal exceeds a preset amplitude threshold, the signal amplitude needs to be adjusted, and the above adjustment of the distance between the preset circuit board and the target sensor source in the preset target direction may include: adjusting the distance between the preset circuit board and the target sensor source in the Z-axis direction based on the preset amplitude threshold. Specifically, firstly, a precise measuring tool, such as a micrometer, may be used to measure the distance between the current preset circuit board and the target sensor source in the Z-axis direction, and the gap may be gradually reduced or increased by fine-tuning the position of the sensor source. In the process of adjusting the gap, the waveform amplitude corresponding to the sine signal and the cosine signal is continuously monitored to ensure that the adjusted waveform amplitude remains within the preset amplitude threshold range, and at the same time, the gap value and waveform amplitude between the preset circuit board and the target sensor source in the Z-axis direction before and after the adjustment may be recorded.

[0068] In a second specific implementation, if it is determined that the first target waveform bias corresponding to the sinusoidal signal deviates from the first preset center of the circle, the first target waveform bias of the sinusoidal signal needs to be adjusted, and the above adjustment of the distance between the preset circuit board and the target sensor source in the preset target direction may include: adjusting the distance between the preset circuit board and the target sensor source in the X-axis direction based on the first preset center of the circle. Specifically, firstly, an appropriate measuring tool, such as an oscilloscope, a data recorder or a special test equipment, can be used to accurately measure the first target waveform bias of the current sinusoidal signal, and record the direction and size of the first target waveform bias. According to the recorded bias direction and size, it is determined that the gap between the sensor source and the encoder in the X-axis direction needs to be adjusted, and then a fine-tuning tool, such as a screwdriver, a micrometer or a precision adjustment stand, is used to adjust the position of the preset circuit board in the X-axis direction. During the adjustment process, the waveform changes of the sinusoidal signal are continuously monitored to ensure that the waveform bias of the adjusted sinusoidal signal gradually approaches the first preset center of the circle. After each adjustment, the bias degree of the sinusoidal signal can be re-measured to verify the effectiveness of the adjustment.

[0069] In a third specific implementation, if it is determined that the second target waveform bias corresponding to the cosine signal deviates from the second preset center of the circle, the second target waveform bias of the cosine signal needs to be adjusted. The above adjustment of the distance between the preset circuit board and the target sensor source in the preset target direction may include: adjusting the distance between the preset circuit board and the target sensor source in the Y-axis direction based on the second preset center of the circle. Specifically, it is first necessary to determine the second target waveform bias of the current cosine signal, and determine the size of the gap that needs to be adjusted between the preset circuit board and the target sensor source in the Y-axis direction according to the direction and degree of the bias deviation of the cosine signal. Use the adjustment tool to gradually adjust the position of the preset circuit board in the Y-axis direction until the waveform bias of the cosine signal reaches the second preset center of the circle. After the adjustment is completed, verify again whether the waveform bias of the cosine signal has returned to the second preset center of the circle.

[0070] In this embodiment, in order to improve the finished product yield of the encoder, after adjusting the distance between the preset circuit board and the target sensor source in the preset target direction, it can also include: jumping to the step of obtaining the sensor signal transmitted by the encoder on the preset circuit board to obtain the current target sine signal and target cosine signal; if the target sine signal and the target cosine signal meet the preset Lissajous figure condition, then fixing the position of the preset circuit board and the target sensor source, so that the encoder on the preset circuit board determines the target angle of the target sensor source in real time based on the target sine signal and the target cosine signal; if the target sine signal and / or the target cosine signal do not meet the preset Lissajous figure condition, then determining that the encoder on the preset circuit board meets the preset fault condition, and controlling the sensor on the preset circuit board to stop collecting the original signal of the target sensor source. It can be understood that after adjusting the distance between the preset circuit board and the target sensor source in the preset target direction, the current target sine signal and target cosine signal are obtained again, and it is verified whether the target sine signal and target cosine signal meet the preset Lissajous figure condition. If satisfied, the screw positions of the encoder and the sensor source are fixed so that the sensor signal obtained by the encoder at the current fixed position is the optimal value, thereby realizing the calibration of the encoder signal, ensuring that the encoder is solidified in the optimal state during production, reducing the MCU (Microcontroller Unit) software fitting workload and improving the final angle output accuracy. If it is found that within the adjustment range, the target sine signal and the target cosine signal cannot meet the predetermined standard, it can be determined that the encoder on the preset circuit board is faulty. During the monitoring process, the faulty encoder can be detected in real time, the finished product yield of the encoder can be improved, and the production efficiency of the encoder can be improved through fully automated operation.

[0071] As can be seen from the above, in this embodiment, the sensor signal transmitted by the encoder on the preset circuit board is first obtained; the sensor signal is a signal obtained by the encoder processing the original signal of the target sensor source collected in real time by the sensor on the preset circuit board; then it is determined whether the target waveform parameter of the sensor signal meets the preset target waveform condition; finally, if the target waveform parameter does not meet the preset target waveform condition, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted so that the adjusted sensor signal meets the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition. As can be seen from the above, in this embodiment, the sensor signal of the target sensor source can be obtained in real time through the sensor on the preset circuit board, and when it is determined that the target waveform parameter of the sensor signal meets the preset target waveform condition, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted. In this way, the sensor signal collected by the encoder can be monitored in real time, and the sensor signal can be adjusted by adjusting the physical position of the preset circuit board and the target sensor source, thereby realizing the calibration of the sensor signal. In this way, this embodiment can improve the accuracy and stability of the encoder signal, while also reducing the processing pressure on the software optimization signal.

[0072] Accordingly, see Figure 5 As shown, the embodiment of the present application further provides a signal adjustment device, which may include:

[0073] The signal acquisition module 11 is used to acquire the sensor signal transmitted by the encoder on the preset circuit board; the sensor signal is a signal obtained by the encoder processing the original signal of the target sensor source collected in real time by the sensor on the preset circuit board;

[0074] A condition judgment module 12 is used to judge whether the target waveform parameters of the sensing signal meet the preset target waveform conditions;

[0075] The signal adjustment module 13 is used to adjust the distance between the preset circuit board and the target sensor source in a preset target direction if the target waveform parameters do not meet the preset target waveform conditions, so that the adjusted sensor signal meets the preset target waveform conditions; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform conditions.

[0076] As can be seen from the above, in the present application, the sensor signal transmitted by the encoder on the preset circuit board is first obtained; the sensor signal is a signal obtained by the encoder processing the original signal of the target sensor source collected in real time by the sensor on the preset circuit board; then it is determined whether the target waveform parameter of the sensor signal meets the preset target waveform condition; finally, if the target waveform parameter does not meet the preset target waveform condition, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted so that the adjusted sensor signal meets the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition. As can be seen from the above, the present application can obtain the sensor signal of the target sensor source in real time through the sensor on the preset circuit board, and when it is determined that the target waveform parameter of the sensor signal meets the preset target waveform condition, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted. In this way, the sensor signal collected by the encoder can be monitored in real time, and the sensor signal can be adjusted by adjusting the physical position of the preset circuit board and the target sensor source, thereby realizing the calibration of the sensor signal. In this way, the present application can improve the accuracy and stability of the encoder signal, while also reducing the processing pressure on the software optimization signal.

[0077] In some specific implementations, the signal acquisition module 11 may include:

[0078] A signal acquisition unit is used to detect the target sensing source in real time through the sensor on the preset circuit board to obtain corresponding initial sensing data, and to obtain the sine signal and cosine signal of the target sensing source obtained after the encoder processes the initial sensing data.

[0079] In some specific embodiments, the initial sensing data may include position change data of the target sensing source.

[0080] In some specific implementations, the condition determination module 12 may include:

[0081] a target waveform amplitude determination unit, for respectively determining a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal according to the parameters of the sensor, a preset angle of the target sensor source, and a distance between the preset circuit board and the target sensor source in the Z-axis direction of a preset spatial coordinate system; the preset spatial coordinate system is a spatial coordinate system constructed with a vertical connection direction between the preset circuit board and the target sensor source as the Z-axis direction, a left-right direction as the X-axis direction, and a forward-backward direction as the Y-axis direction;

[0082] a first condition judgment unit, configured to judge that the sensing signal does not meet a preset target waveform condition if the first target waveform amplitude and / or the second target waveform amplitude exceeds a preset amplitude threshold;

[0083] Accordingly, the signal adjustment module 13 may include:

[0084] The first signal adjustment unit is used to adjust the distance between the preset circuit board and the target sensor source in the Z-axis direction based on the preset amplitude threshold.

[0085] In some specific implementations, the condition determination module 12 may include:

[0086] A first target waveform offset determination unit, configured to determine a first target waveform offset corresponding to the sinusoidal signal according to parameters of the sensor, a preset angle of the target sensing source, and a distance between the preset circuit board and the target sensing source in the X-axis direction of the preset spatial coordinate system;

[0087] a second condition judgment unit, configured to judge that the sinusoidal signal does not meet a preset target waveform condition if the first target waveform offset deviates from a first preset center of a circle;

[0088] Accordingly, the signal adjustment module 13 may include:

[0089] The second signal adjustment unit is used to adjust the distance between the preset circuit board and the target sensor source in the X-axis direction based on the first preset circle center.

[0090] In some specific implementations, the condition determination module 12 may include:

[0091] A second target waveform bias unit, used to determine a second target waveform bias corresponding to the cosine signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Y-axis direction of the preset spatial coordinate system;

[0092] a third condition judgment unit, configured to judge that the cosine signal does not meet a preset target waveform condition if the second target waveform offset deviates from a second preset center of a circle;

[0093] Accordingly, the signal adjustment module 13 may include:

[0094] The third signal adjustment unit is used to adjust the distance between the preset circuit board and the target sensor source in the Y-axis direction based on the second preset circle center.

[0095] In some specific implementations, the signal adjustment device may include:

[0096] A target signal acquisition module, used to jump to the step of acquiring the sensor signal transmitted by the encoder on the preset circuit board to acquire the current target sine signal and target cosine signal;

[0097] a target angle determination module, configured to fix the positions of the preset circuit board and the target sensor source if the target sine signal and the target cosine signal meet a preset Lissajous figure condition, so that the encoder on the preset circuit board can determine the target angle of the target sensor source in real time based on the target sine signal and the target cosine signal;

[0098] A signal acquisition stop module is used to determine that the encoder on the preset circuit board meets the preset fault condition if the target sine signal and / or the target cosine signal does not meet the preset Lissajous figure condition, and control the sensor on the preset circuit board to stop acquiring the original signal of the target sensor source.

[0099] Furthermore, the present application also discloses an electronic device. Figure 6 : This is a structural diagram of an electronic device 20 shown according to an exemplary embodiment, and the content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the signal adjustment method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0100] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0101] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0102] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program that can be used to complete the signal adjustment method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program that can be used to complete other specific tasks.

[0103] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the aforementioned disclosed signal adjustment method. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, and no further description will be given here.

[0104] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0105] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may 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.

[0106] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0107] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0108] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A signal adjustment method, characterized in that: include: Acquire a sensor signal transmitted by an encoder on a preset circuit board; the sensor signal is a signal obtained by the encoder processing an original signal of a target sensor source collected in real time by a sensor on the preset circuit board; Determining whether the target waveform parameters of the sensing signal meet preset target waveform conditions; If the target waveform parameters do not meet the preset target waveform conditions, the distance between the preset circuit board and the target sensor source in the preset target direction is adjusted so that the adjusted sensor signal meets the preset target waveform conditions; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform conditions.

2. The signal adjustment method according to claim 1, characterized in that: The step of obtaining a sensor signal transmitted by an encoder on a preset circuit board includes: The target sensing source is detected in real time by the sensor on the preset circuit board to obtain corresponding initial sensing data, and the sine signal and cosine signal of the target sensing source obtained after the encoder processes the initial sensing data are obtained.

3. The signal adjustment method according to claim 2, characterized in that: The initial sensing data includes position change data of the target sensing source.

4. The signal adjustment method according to claim 2 or 3, characterized in that: The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: According to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Z-axis direction of the preset spatial coordinate system, a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal are respectively determined; the preset spatial coordinate system is a spatial coordinate system constructed with the vertical connection direction of the preset circuit board and the target sensor source as the Z-axis direction, the left-right direction as the X-axis direction, and the front-back direction as the Y-axis direction; If the first target waveform amplitude and / or the second target waveform amplitude exceeds a preset amplitude threshold, determining that the sensing signal does not meet a preset target waveform condition; Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes: The distance between the preset circuit board and the target sensing source in the Z-axis direction is adjusted based on the preset amplitude threshold.

5. The signal adjustment method according to claim 4, characterized in that: The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: Determine a first target waveform bias corresponding to the sinusoidal signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the X-axis direction of the preset spatial coordinate system; If the first target waveform offset deviates from the first preset center of the circle, it is determined that the sinusoidal signal does not meet the preset target waveform condition; Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes: The distance between the preset circuit board and the target sensing source in the X-axis direction is adjusted based on the first preset circle center.

6. The signal adjustment method according to claim 4, characterized in that: The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: Determine a second target waveform offset corresponding to the cosine signal according to the parameters of the sensor, the preset angle of the target sensor source, and the distance between the preset circuit board and the target sensor source in the Y-axis direction of the preset spatial coordinate system; If the second target waveform offset deviates from the second preset center of the circle, it is determined that the cosine signal does not meet the preset target waveform condition; Correspondingly, the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction includes: The distance between the preset circuit board and the target sensing source in the Y-axis direction is adjusted based on the second preset circle center.

7. The signal adjustment method according to claim 1, characterized in that: After adjusting the distance between the preset circuit board and the target sensor source in the preset target direction, the method further includes: Jump to the step of obtaining the sensor signal transmitted by the encoder on the preset circuit board to obtain the current target sine signal and target cosine signal; If the target sine signal and the target cosine signal meet a preset Lissajous figure condition, fixing the positions of the preset circuit board and the target sensor source so that the encoder on the preset circuit board can determine the target angle of the target sensor source in real time based on the target sine signal and the target cosine signal; If the target sine signal and / or the target cosine signal does not satisfy the preset Lissajous figure condition, it is determined that the encoder on the preset circuit board satisfies the preset fault condition, and the sensor on the preset circuit board is controlled to stop collecting the original signal of the target sensor source.

8. A signal adjustment device, characterized in that: include: A signal acquisition module, used to acquire a sensor signal transmitted by an encoder on a preset circuit board; the sensor signal is a signal obtained by the encoder processing an original signal of a target sensor source collected in real time by a sensor on the preset circuit board; A condition judgment module, used to judge whether the target waveform parameter of the sensing signal meets a preset target waveform condition; A signal adjustment module is used to adjust the distance between the preset circuit board and the target sensor source in a preset target direction if the target waveform parameter does not meet the preset target waveform condition, so that the adjusted sensor signal meets the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition.

9. An electronic device, characterized in that: The electronic device comprises a processor and a memory; wherein the memory is used to store a computer program, and the computer program is loaded and executed by the processor to implement the signal adjustment method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, which, when executed by a processor, implements the signal adjustment method according to any one of claims 1 to 7.

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