A signal adjusting method, device, apparatus and storage medium

Abstract

The application discloses a signal adjustment method and device, equipment and storage medium, relates to the technical field of encoder calibration, and comprises the following steps: acquiring a sensing signal transmitted by an encoder on a preset circuit board; the sensing signal is a signal obtained by processing an original signal of a target sensing source collected in real time by the encoder on the sensor on the preset circuit board; judging whether a target waveform parameter of the sensing signal meets a preset target waveform condition; if the target waveform parameter does not meet the preset target waveform condition, adjusting the distance between the preset circuit board and the target sensing source in a preset target direction, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction corresponding to the preset target waveform condition determined in advance. In this way, the application can improve the accuracy and stability of the encoder signal, and also reduce the processing pressure of the software optimized signal.

Description

TECHNICAL FIELD

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

[0002] As an angle feedback device, the encoder can detect the position change of the magnet on the rotating shaft by the sensor on the encoder to obtain a sine signal and a cosine signal, and the MCU (Microcontroller Unit) of the encoder can further perform angle analysis on the sine signal and the cosine signal, and finally perform angle output. Due to actual assembly error, material design tolerance and patch tolerance of the encoder PCB (Printed Circuit Board), the amplitude and offset of the collected sine signal and cosine signal will be distorted, resulting in poor accuracy of the angle output of the encoder.

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

[0004] In summary, how to improve the accuracy of the encoder signal is a technical problem to be solved at present. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a signal adjustment method, device, equipment and storage medium, which can improve the accuracy of the encoder signal. The specific scheme is as follows:

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

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

[0008] determining whether a target waveform parameter of the sensing signal meets a preset target waveform condition;

[0009] if the target waveform parameter does not meet the preset target waveform condition, adjusting the distance between the preset circuit board and the target sensing source in a preset target direction, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction corresponding to the preset target waveform condition determined in advance.

[0010] Optionally, 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.

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

[0013] Optionally, determining whether the target waveform parameters of the sensing signal meet preset target waveform conditions includes:

[0014] Determining a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal based on the 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 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 sensing 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;

[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] Accordingly, adjusting the distance between the preset circuit board and the target sensing source in a 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 the target waveform parameters of the sensing signal meet preset target waveform conditions includes:

[0019] Determining 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;

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

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

[0022] adjust a distance between the preset circuit board and the target sensing source in an X-axis direction based on the first preset center of circle.

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

[0024] determining a second target waveform offset corresponding to the cosine signal according to a parameter 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 a Y-axis direction of the preset spatial coordinate system;

[0025] if the second target waveform offset deviates from a second preset center of circle, determining that the cosine signal does not meet a 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 comprises:

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

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

[0029] jumping to the step of acquiring the sensing signal transmitted by the encoder on the preset circuit board to acquire a current target sine signal and a target cosine signal;

[0030] if the target sine signal and the target cosine signal meet a preset Lissajous figure condition, fixing positions of the preset circuit board and the target sensing source, so that the encoder on the preset circuit board determines a target angle of the target sensing 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 do not meet the preset Lissajous figure condition, determining that the encoder on the preset circuit board meets a preset fault condition, and controlling the sensor on the preset circuit board to stop collecting the original signal of the target sensing source.

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

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

[0034] A condition judging module is configured to judge whether a target waveform parameter of the sensing signal meets a preset target waveform condition.

[0035] A signal adjusting module is configured to adjust a distance between the preset circuit board and the target sensing source in a preset target direction if the target waveform parameter does not meet the preset target waveform condition, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction determined in advance and corresponding to the preset target waveform condition.

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

[0037] A memory is configured to save a computer program.

[0038] A processor is configured to execute the computer program to implement the aforementioned signal adjusting method.

[0039] In a fourth aspect, the present application provides a computer readable storage medium configured to save a computer program; wherein the computer program is executed by a processor to implement the aforementioned signal adjusting method.

[0040] In the present application, a sensing signal transmitted by an encoder on a preset circuit board is first acquired; the sensing signal is a signal obtained by processing an original signal of a target sensing source collected by the encoder on the preset circuit board in real time; then it is judged whether a target waveform parameter of the sensing signal meets a preset target waveform condition; finally, if the target waveform parameter does not meet the preset target waveform condition, a distance between the preset circuit board and the target sensing source in a preset target direction is adjusted, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction determined in advance and corresponding to the preset target waveform condition. As can be seen from the above, the present application can acquire a sensing signal of a target sensing source in real time through a sensor on a preset circuit board, and adjust a distance between a preset circuit board and a target sensing source in a preset target direction in the case that a target waveform parameter of the sensing signal meets a preset target waveform condition. In this way, the sensing signal collected by the encoder can be monitored in real time, and the sensing signal can be adjusted by adjusting the physical position of the preset circuit board and the target sensing source, so that the calibration of the sensing signal can be realized. In this way, the present application can improve the accuracy and stability of the encoder signal, and at the same time, the processing pressure of the software optimized signal can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute a part of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0042] Figure 1 A signal adjustment scheme system architecture diagram is provided for the present application.

[0043] Figure 2 A signal adjustment method flow chart is provided for the present application.

[0044] Figure 3 An amplitude abnormal signal schematic diagram is provided for the present application.

[0045] Figure 4 A bias abnormal signal schematic diagram is provided for the present application.

[0046] Figure 5 A signal adjustment device structure schematic diagram is provided for the present application.

[0047] Figure 6 An electronic device structure diagram is provided for the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0049] At present, the method for solving the distortion of sine signals and cosine signals caused by assembly tolerance is generally software compensation, that is, the offset and amplitude of the sine signal and the cosine signal are collected in a certain period, and the deviation is compensated in real time by software to achieve the purpose of compensating the angle deviation. However, the software optimization has poor real-time performance, the output angle accuracy is poor before the data is collected, and the accuracy of the software collected data cannot be guaranteed, resulting in angle calculation deviation. Therefore, the present application provides a signal adjustment scheme, which can improve the accuracy of the encoder signal.

[0050] In the signal adjustment scheme of the present application, the system framework used can be seen from Figure 1As shown, specifically can include: encoder PCB board (PCB, Printed Circuit Board, circuit board), sensor, sensor source, calibration control system. In a specific embodiment, if the sensor source is a magnet, the calibration control system can rotate the rotating shaft where the magnet is at a constant speed, 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, and calculate and display the amplitude and bias of the sensor signal in real time, and display the final angle value, control the distance between the circuit board and the magnet within a proper range, so that the sensor signal reaches a predetermined deviation.

[0051] Referring to Figure 2 As shown, the embodiment of the application discloses a signal adjusting method, which can include:

[0052] In step S11, a sensor signal transmitted by an encoder on a preset circuit board is acquired; the sensor signal is a signal obtained by processing an original signal of a target sensor source collected by the sensor on the preset circuit board by the encoder.

[0053] In this embodiment, obtaining the sensor signal transmitted by the encoder on the preset circuit board may include: performing real-time detection of the target sensor source using the sensor on the preset circuit board to obtain corresponding initial sensor data, and obtaining a sine signal and a cosine signal of the target sensor source obtained by processing the initial sensor data by the encoder. The initial sensor data may include position change data of the target sensor source. Specifically, an appropriate sensor may be selected based on the type of target sensor source and the parameters to be measured, and the sensor may be installed in a position where it can accurately detect the target sensor source to ensure that signal transmission between the sensor and the target sensor source is not interfered with. In one specific embodiment, when the target sensor source is a magnet, the sensor on the preset circuit board is typically a magnetic sensor, such as a Hall effect sensor, a magnetoresistive sensor, or a magnetostrictive sensor. The calibration control system rotates the rotating shaft on which 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 change with the movement of the magnet. The magnetic sensor in the sensor can detect the changing magnetic field and generate a corresponding raw signal based on the change in the magnetic field. After the sensor converts the detected magnetic field changes into raw signals, the encoder can perform preprocessing on the raw signals, including but not limited to amplification, filtering, and digitization, to improve signal quality and readability. The encoder uses internal signal processing circuitry or algorithms to convert the preprocessed raw signals into sine and cosine signals. The sine and cosine signals generated by the encoder can then be transmitted to the calibration control system via the encoder's output interface, such as an RS485 interface based on the Modbus protocol. Understandably, compatibility and compatibility between the sensor and encoder must be ensured. Different sensors and encoders may have different interfaces, signal formats, and transmission protocols, requiring appropriate configuration and debugging. During circuit board design and routing, signal interference must be considered and appropriate protective measures must be implemented. For example, shielded cables and filters 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 be distorted in amplitude and offset.

[0056] In the first specific implementation, the judging whether the target waveform parameter of the sensing signal meets the preset target waveform condition can include: 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 parameter 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 a Z-axis direction of a preset space coordinate system; the preset space coordinate system is a space coordinate system constructed with the vertical line direction of the preset circuit board and the target sensing 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, it is determined that the sensing signal does not meet the preset target waveform condition. Specifically, the calibration control system displays and analyzes the sine signal and the cosine signal transmitted by the encoder, and the sine signal waveform and the cosine signal waveform can be represented as:

[0057] ; ;

[0058] wherein, is determined by the parameter of the sensor, represents the distance between the preset circuit board and the target sensing source in the Z-axis direction of the preset space coordinate system, represents the preset angle of the target sensing source.

[0059] The calibration control system determines the maximum value of the sine signal waveform 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 of the sine signal waveform and the minimum value of the sine signal waveform. At the same time, the calibration control system determines the maximum value of the cosine signal waveform 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 of the cosine signal waveform 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, the gap between the sensing source and the preset circuit board needs to be adjusted, so as to adjust the amplitude of the signal.

[0060] In the second specific implementation, the judging whether the target waveform parameter of the sensing signal meets the preset target waveform condition can include: determining a first target waveform offset corresponding to the sine signal according to the parameter 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 space coordinate system; if the first target waveform offset deviates from a first preset center, it is determined that the sine signal does not meet the preset target waveform condition. Specifically, the calibration control system displays and analyzes the sine signal and the cosine signal transmitted by the encoder, and the sine signal waveform can be specifically represented as:

[0061] ;

[0062] wherein, determined by the parameters of the sensor, represents the distance between the preset circuit board and the target sensor source in the X-axis direction of the preset spatial coordinate system, represents the preset angle of the target sensor source. If the calibration control system determines that the first target waveform offset of the sine signal deviates from the first preset center, the gap between the sensor source and the preset circuit board needs to be adjusted, so as to adjust the waveform offset of the sine signal.

[0063] In the third specific embodiment, the above determining whether the target waveform parameter of the sensing signal meets the preset target waveform condition can include: determining 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 a second preset center, it is determined that the cosine signal does not meet the preset target waveform condition. Specifically, the calibration control system displays and analyzes the sine signal and the cosine signal transmitted by the encoder, and the cosine signal waveform can be represented as:

[0064] ;

[0065] wherein, determined by the parameters of the sensor, represents the distance between the preset circuit board and the target sensor source in the Y-axis direction of the preset spatial coordinate system, represents the preset angle of the target sensor source. If the calibration control system determines that the second target waveform offset of the cosine signal deviates from the second preset center, the gap between the sensor source and the preset circuit board needs to be adjusted, so as to adjust the waveform offset of the cosine signal.

[0066] Step S13, if the target waveform parameter does not meet the preset target waveform condition, adjusting the distance between the preset circuit board and the target sensor source in the preset target direction, so that the adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction corresponding to the preset target waveform condition determined in advance.

[0067] In a first specific embodiment, 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. The above-mentioned 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, first, a precise measuring tool, such as a micrometer, can be used to measure the distance between the current preset circuit board and the target sensor source in the Z-axis direction. By fine-tuning the position of the sensor source, the gap is gradually reduced or increased. During the gap adjustment process, the waveform amplitudes corresponding to the sine and cosine signals are continuously monitored to ensure that the adjusted waveform amplitude remains within the preset amplitude threshold. 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 can be recorded.

[0068] In a second specific embodiment, if it is determined that the first target waveform offset corresponding to the sinusoidal signal deviates from the first preset center, the first target waveform offset of the sinusoidal signal needs to be adjusted. Adjusting 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. Specifically, an appropriate measuring tool, such as an oscilloscope, data recorder, or dedicated test equipment, can be used to accurately measure the current first target waveform offset of the sinusoidal signal and record the direction and magnitude of the first target waveform offset. Based on the recorded offset direction and magnitude, the gap between the sensor source and the encoder in the X-axis direction needs to be adjusted. Then, a fine-tuning tool, such as a screwdriver, micrometer, or precision adjustment mount, 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 adjusted waveform offset of the sinusoidal signal gradually approaches the first preset center. After each adjustment, the offset of the sinusoidal signal can be remeasured to verify the effectiveness of the adjustment.

[0069] In the third specific embodiment, if it is determined that the second target waveform bias of the cosine signal deviates from the second preset center, the second target waveform bias of the cosine signal needs to be adjusted. The adjusting the distance between the preset circuit board and the target sensing source in the preset target direction can include: adjusting the distance between the preset circuit board and the target sensing source in the Y-axis direction based on the second preset center. Specifically, first, the second target waveform bias of the current cosine signal needs to be determined. According to the direction and degree of the deviation of the cosine signal, the gap size that needs to be adjusted in the Y-axis direction between the preset circuit board and the target sensing source is determined. Using an adjusting tool, the position of the preset circuit board in the Y-axis direction is gradually adjusted until the waveform bias of the cosine signal reaches the second preset center. After the adjustment is completed, it is verified again whether the waveform bias of the cosine signal has returned to the second preset center.

[0070] In the present embodiment, in order to improve the yield of the encoder, after the adjusting the distance between the preset circuit board and the target sensing source in the preset target direction, the method can further include: jumping to the step of acquiring the sensing signal transmitted by the encoder on the preset circuit board to acquire the current target sine signal and the target cosine signal; if the target sine signal and the target cosine signal satisfy a preset Lissajous figure condition, fixing the positions of the preset circuit board and the target sensing source so that the encoder on the preset circuit board determines the target angle of the target sensing 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 satisfy the preset Lissajous figure condition, determining that the encoder on the preset circuit board satisfies a preset fault condition, and controlling the sensor on the preset circuit board to stop collecting the original signal of the target sensing source. It can be understood that after adjusting the distance between the preset circuit board and the target sensing source in the preset target direction, the current target sine signal and the target cosine signal are acquired again, and it is verified whether the target sine signal and the target cosine signal satisfy the preset Lissajous figure condition. If yes, the screw position of the encoder and the sensing source is fixed, so that the sensing signal obtained by the encoder at the current fixed position is the best value, thereby realizing the calibration of the encoder signal, ensuring that the encoder is solidified in the optimal state during production, and reducing the software fitting workload of the MCU (Microcontroller Unit) and improving the accuracy of the final angle output. If it is found that the target sine signal and the target cosine signal cannot reach the predetermined standard within the adjustment range, 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 yield of the encoder is improved, and the production efficiency of the encoder is improved through fully automated operation.

[0071] It can be seen from the above that, in the embodiment, a sensing signal transmitted by an encoder on a preset circuit board is first acquired; the sensing signal is a signal obtained by processing an original signal of a target sensing source collected by the encoder on a sensor on the preset circuit board in real time; then it is determined whether a target waveform parameter of the sensing signal meets a preset target waveform condition; finally, if the target waveform parameter does not meet the preset target waveform condition, a distance between the preset circuit board and the target sensing source in a preset target direction is adjusted, so that an adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction determined in advance corresponding to the preset target waveform condition. It can be seen from the above that, in the embodiment, a sensing signal of a target sensing source can be acquired in real time by a sensor on a preset circuit board, and in a case where a target waveform parameter of the sensing signal meets a preset target waveform condition, a distance between the preset circuit board and the target sensing source in a preset target direction is adjusted. In this way, the sensing signal collected by the encoder can be monitored in real time, and the sensing signal can be adjusted by adjusting the physical positions of the preset circuit board and the target sensing source, so that the calibration of the sensing signal is realized. In this way, the embodiment can improve the accuracy and stability of the encoder signal, and at the same time, the processing pressure of the software optimized signal is also reduced.

[0072] Correspondingly, referring to Figure 5 The embodiment of the application also provides a signal adjustment device, which can include:

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

[0074] The condition determination module 12 is configured to determine whether a target waveform parameter of the sensing signal meets a preset target waveform condition.

[0075] The signal adjustment module 13 is configured to, if the target waveform parameter does not meet the preset target waveform condition, adjust a distance between the preset circuit board and the target sensing source in a preset target direction, so that an adjusted sensing signal meets the preset target waveform condition; wherein the preset target direction is a direction determined in advance corresponding to the preset target waveform condition.

[0076] It can be seen from the above that the sensing signal of the target sensing source is acquired in real time by the sensor on the preset circuit board in the present application. The sensing signal is a signal obtained by processing the original signal of the target sensing source collected in real time by the sensor on the preset circuit board by the encoder. Then, it is determined whether the target waveform parameter of the sensing 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 sensing source in the preset target direction is adjusted so that the adjusted sensing signal meets the preset target waveform condition. The preset target direction is a direction corresponding to the preset target waveform condition determined in advance. It can be seen from the above that the sensing signal of the target sensing source can be acquired in real time by the sensor on the preset circuit board, and the distance between the preset circuit board and the target sensing source in the preset target direction is adjusted when it is determined that the target waveform parameter of the sensing signal meets the preset target waveform condition. In this way, the sensing signal collected by the encoder can be monitored in real time, and the sensing signal can be adjusted by adjusting the physical position of the preset circuit board and the target sensing source, so that the calibration of the sensing signal is realized. In this way, the accuracy and stability of the encoder signal can be improved, and the processing pressure of the software optimized signal is also reduced.

[0077] In some specific embodiments, the signal acquisition module 11 can include:

[0078] The signal acquisition unit is configured to detect the target sensing source in real time by the sensor on the preset circuit board to obtain corresponding initial sensing data, and acquire the sine signal and the cosine signal of the target sensing source obtained by processing the initial sensing data by the encoder.

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

[0080] In some specific embodiments, the condition determination module 12 can include:

[0081] The target waveform amplitude determination unit is configured to determine 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 sensing source, and the distance between the preset circuit board and the target sensing source in the Z-axis direction of a preset space coordinate system, respectively. The preset space coordinate system is a space coordinate system constructed with the vertical line direction of the preset circuit board and the target sensing 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.

[0082] a first condition judgment unit, configured to determine 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 configured to adjust the distance between the preset circuit board and the target sensing 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 determining unit, configured to determine a first target waveform offset corresponding to the sinusoidal signal based on 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 determine that the sinusoidal signal does not meet a preset target waveform condition if the first target waveform offset deviates from a first preset circle center;

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

[0089] The second signal adjustment unit is configured to adjust the distance between the preset circuit board and the target sensing 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, configured to determine a second target waveform bias corresponding to the cosine 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 Y-axis direction of the preset spatial coordinate system;

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

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

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

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

[0096] A target signal acquisition module is used to jump to the step of acquiring the sensor signal transmitted by the encoder on the preset circuit board to obtain 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 satisfy 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 a preset fault condition if the target sine signal and / or the target cosine signal do 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 embodiment of the present application also discloses an electronic device, Figure 6 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be construed as limiting the scope of use of this application. The electronic device 20 may 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 of the signal adjustment method disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may be a computer.

[0100] In this embodiment, the power supply 23 is used to provide operating 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. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this 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. 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 resource storage, can be a read-only memory, random access memory, disk or CD, 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 configured to manage and control the various hardware devices and computer programs 222 on the electronic device 20, which can be Windows Server, Netware, Unix, Linux, etc. The computer programs 222 can further include computer programs capable of performing other specific tasks in addition to the computer programs capable of performing the signal adjustment method disclosed by the electronic device 20 in any of the above embodiments.

[0103] Further, the present application also discloses a computer readable storage medium for storing a computer program; wherein the computer program is executed by a processor to implement the signal adjustment method disclosed above. For the specific steps of the method, please refer to the corresponding content disclosed in the above embodiments, which will not be repeated here.

[0104] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same or similar parts between the embodiments, please refer to the corresponding description in other embodiments.

[0105] The skilled in the art can further realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in the present specification can be realized by electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in general. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0106] The steps of the method or algorithm described in combination with the embodiments disclosed in the present specification can be directly implemented by hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the art.

[0107] Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be intended to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the stated element.

[0108] The above detailed description of the technical solutions provided by the present application has been provided, and the principles and implementation manners of the present application have been described by applying specific examples. The above description of the examples is only for the purpose of helping to understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range will be changed, and the above description of the content of the specification should not be understood as a limitation of 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 parameter does not satisfy the preset target waveform condition, adjusting the distance between the preset circuit board and the target sensing source in a preset target direction so that the adjusted sensing signal satisfies the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition; Wherein, the step of obtaining a sensor signal transmitted by an encoder on a preset circuit board includes: The target sensor source is detected in real time by the sensor on the preset circuit board to obtain corresponding initial sensor data, and the sine signal and cosine signal of the target sensor source are obtained after the encoder processes the initial sensor data; The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: Determining a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal based on the 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 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 sensing 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; 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; Accordingly, adjusting the distance between the preset circuit board and the target sensing source in a 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.

2. The signal adjustment method according to claim 1, wherein: The initial sensing data includes position change data of the target sensing source.

3. The signal adjustment method according to claim 1 or 2, characterized in that: The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: Determining 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; If the first target waveform offset deviates from the first preset center, it is determined that the sinusoidal signal does not meet the preset target waveform condition; Accordingly, adjusting the distance between the preset circuit board and the target sensing source in a 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.

4. The signal adjustment method according to claim 1 or 2, characterized in that: The determining whether the target waveform parameter of the sensing signal meets a preset target waveform condition includes: Determining a second target waveform offset corresponding to the cosine 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 Y-axis direction of the preset spatial coordinate system; If the second target waveform offset deviates from the second preset center, determining that the cosine signal does not meet the preset target waveform condition; Accordingly, adjusting the distance between the preset circuit board and the target sensing source in a 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.

5. The signal adjustment method according to claim 1, wherein: 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 satisfy 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 meet the preset Lissajous figure condition, it is determined that the encoder on the preset circuit board meets 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.

6. A signal adjustment device, characterized in that: include: A signal acquisition module is 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 the original signal of the target sensor source collected in real time by the sensor on the preset circuit board; A condition judgment module, used to judge whether the target waveform parameters of the sensing signal meet the preset target waveform conditions; a signal adjustment module, configured to adjust the distance between the preset circuit board and the target sensing source in a preset target direction so that the adjusted sensing signal satisfies the preset target waveform condition if the target waveform parameter does not satisfy the preset target waveform condition; wherein the preset target direction is a direction predetermined to correspond to the preset target waveform condition; Wherein, the signal acquisition module includes: a signal acquisition unit, configured 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 a sine signal and a cosine signal of the target sensing source obtained after the encoder processes the initial sensing data; The condition judgment module includes: a target waveform amplitude determination unit, configured to determine a first target waveform amplitude corresponding to the sine signal and a second target waveform amplitude corresponding to the cosine signal, respectively, based on 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 a Z-axis direction of a preset spatial coordinate system; the preset spatial coordinate system being a spatial coordinate system constructed with a vertical connection direction between the preset circuit board and the target sensing 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; a first condition judgment unit, configured to determine 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; Accordingly, the signal adjustment module includes: The first signal adjustment unit is configured to adjust the distance between the preset circuit board and the target sensing source in the Z-axis direction based on the preset amplitude threshold.

7. An electronic device, characterized in that: The electronic device includes 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 5.

8. A computer-readable storage medium, characterized in that Used to store a computer program, which implements the signal adjustment method according to any one of claims 1 to 5 when executed by a processor.

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