Sensor compensation method and device and electronic equipment

Abstract

The invention discloses a sensor compensation method and device and electronic equipment. Relates to the technical field of sensors, and the method comprises the steps: obtaining an output signal curve of a strain type force sensor under a force standard machine during loading, and obtaining a load measurement curve of the strain type force sensor, the strain type force sensor being an uncompensated sensor, and the output signal curve being a load-time curve; determining the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determining a compensation formula for compensating the measurement curve and compensation parameters in the compensation formula according to the change state; calculating a compensation value of the strain type force sensor according to a compensation formula, the compensation parameter and the curve coefficient of the measurement curve; and compensating the measurement curve through the compensation value to obtain an actual loaded curve of the strain type force sensor after creep compensation. According to the method and the device, the problem of low accuracy and efficiency of manually performing creep compensation operation on the sensor in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a sensor compensation method, device and electronic equipment. Background Art

[0002] The creep of a strain sensor refers to the phenomenon that the output signal of the sensor changes over time under a certain load. This phenomenon usually occurs during long-term loading. Specifically, the creep phenomenon is defined as the continuous deformation of a material over time under a constant stress or load. In a strain sensor, due to the creep characteristics of the strain gauge, rubber and elastomer materials themselves, the sensor output signal gradually shifts over time, causing the sensor output value to rise or fall.

[0003] Moreover, the creep process is usually divided into three stages, including: Initial stage: At the beginning of loading, the creep rate is high and gradually decreases over time. Stable stage: In this stage, the creep rate tends to be stable and the change of the sensor output signal tends to be gentle. Acceleration stage: In some cases, the creep rate may re-accelerate, which usually indicates that the material damage is about to occur.

[0004] In order to improve the accuracy of the sensor's output value, it is usually necessary to perform creep compensation on the sensor, especially creep compensation at the initial loading stage, to reduce the output value error caused by the sensor's creep, thereby ensuring that the sensor can provide accurate and reliable measurement results in practical applications.

[0005] When performing sensor creep compensation, the traditional manual compensation method is usually used. However, this method usually relies on the experience and skills of the process personnel. In addition, since the compensation of traditional force sensors needs to be tested and compensated in multiple steps during the manufacturing process, the purely manual compensation method is time-consuming and labor-intensive, and is affected by the experience of the process personnel. The accuracy and efficiency of the compensation results are low.

[0006] With regard to the problem of low accuracy and efficiency of manual creep compensation operation on sensors in related technologies, no effective solution has been proposed so far. Summary of the invention

[0007] The present application provides a sensor compensation method, device and electronic device to solve the problem of low accuracy and efficiency in manual creep compensation operation on the sensor in the related art.

[0008] According to one aspect of the present application, a compensation method for a sensor is provided. The method includes: obtaining an output signal curve of a strain-type force sensor when it is loaded under a force standard machine, and obtaining a load measurement curve of the strain-type force sensor, wherein the strain-type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; determining the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determining a compensation formula for compensating the measurement curve and a compensation parameter in the compensation formula according to the change state; calculating a compensation value of the strain-type force sensor according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve; compensating the measurement curve by the compensation value, and obtaining the actual load curve of the strain-type force sensor after creep compensation.

[0009] Optionally, the changing state includes a continuous load changing state, and determining the compensation formula for compensating the measured curve and the compensation parameters in the compensation formula according to the changing state includes: obtaining the cumulative creep formula corresponding to the continuous load changing state, and obtaining the first test curve and the first standard curve obtained when the strain-type force sensor and the standard sensor perform the first test operation on the force standard machine, wherein the force standard machine performs the first test operation according to the first ideal load curve, the load change state of the first ideal load curve is a continuous load changing state, and the standard sensor is a sensor that has performed a creep compensation operation; determining the compensation parameters in the cumulative creep formula according to the load value in the first test curve and the load value in the first standard curve, and determining the cumulative creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0010] Optionally, determining the compensation parameters in the cumulative creep formula based on the load values ​​in the first test curve and the load values ​​in the first standard curve includes: obtaining the load values ​​at M load value collection moments in the first test curve to obtain M first load values; obtaining the load values ​​at M load value collection moments in the first standard curve to obtain M second load values; determining the first load value and the second load value at the same collection moment as a group of load values ​​to obtain M groups of load values, and fitting each parameter in the cumulative creep formula based on the M groups of load values ​​to obtain the compensation parameters in the cumulative creep formula, wherein the compensation parameters are used to fit the first load value to the second load value.

[0011] Optionally, the change state includes a load discontinuous change state, and determining the compensation formula for compensating the measured curve and the compensation parameters in the compensation formula according to the change state includes: obtaining the discontinuous creep formula corresponding to the load discontinuous change state, and obtaining the second test curve and the second standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs a second test operation, wherein the force standard machine performs the second test operation according to the second ideal load curve, the load change state of the second ideal load curve is a load discontinuous change state, and the standard sensor is a sensor that has performed a creep compensation operation; determining the compensation parameters in the discontinuous creep formula according to the load value in the second test curve and the load value in the second standard curve, and determining the discontinuous creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0012] Optionally, determining the compensation parameters in the discontinuous creep formula based on the load values ​​in the second test curve and the load values ​​in the second standard curve includes: obtaining the curve portion where the load changes in the second test curve to obtain N first curve segments; obtaining the curve portion where the load changes in the second standard curve to obtain N second curve segments; determining the first curve segment and the second curve end with the same time period as a group of curve segments to obtain N groups of curve segments; for each group of curve segments, obtaining P pairs of load values ​​that are the same at the moment, and determining the compensation parameters of the creep formula under the load interval corresponding to each group of curve segments based on the P pairs of load values ​​to obtain the compensation parameters under the N discontinuous creep formulas.

[0013] Optionally, calculating the compensation value of the strain type force sensor according to the compensation formula, compensation parameters and curve coefficient of the measurement curve includes: segmenting the measurement curve according to the load intervals corresponding to N discontinuous creep formulas to obtain N test curves; using the discontinuous creep formula, compensation parameters and curve coefficient of the measurement curve corresponding to each test curve to calculate the compensation value of the strain type force sensor to obtain N compensation values ​​of the measurement curve.

[0014] Optionally, obtaining the output signal curve of the strain-type force sensor when loaded under the force standard machine to obtain the load measurement curve of the strain-type force sensor includes: determining the sampling frequency of the strain-type force sensor to obtain the load value, and obtaining the difference between the load values ​​collected at two adjacent sampling moments to obtain the target difference; judging whether the target difference is greater than a preset threshold; when the target difference is less than the preset threshold, determining that the load value is invalid until the target difference is greater than or equal to the preset threshold; when the target difference is greater than or equal to the preset threshold, starting to record the load value obtained by the strain-type force sensor until the total sampling time for collecting the load value according to the sampling frequency reaches the preset time, and generating a measurement curve from the collected load value.

[0015] Optionally, before obtaining the output signal curve of the strain-type force sensor when loaded under the force standard machine and obtaining the load measurement curve of the strain-type force sensor, the method also includes: using the force standard machine to apply a load to the same standard sensor using the same load loading curve to obtain multiple load curves; comparing the multiple load curves, and determining whether the repeatability and linearity of the force standard machine meet preset requirements based on the comparison results; when both the repeatability and linearity meet the preset requirements, determining that the force standard machine has no abnormalities; when the repeatability and / or linearity do not meet the preset requirements, determining that the force standard machine has abnormalities.

[0016] According to another aspect of the present application, a compensation device for a sensor is provided. The device includes: an acquisition unit, used to acquire the output signal curve of the strain-type force sensor when it is loaded under a force standard machine, and obtain the load measurement curve of the strain-type force sensor, wherein the strain-type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; a first determination unit, used to determine the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determine the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula according to the change state; a calculation unit, used to calculate the compensation value of the strain-type force sensor according to the compensation formula, the compensation parameters and the curve coefficient of the measurement curve; a compensation unit, used to compensate the measurement curve by the compensation value, and obtain the actual load curve of the strain-type force sensor after creep compensation.

[0017] According to another aspect of the present invention, an electronic device is provided, comprising one or more processors and a memory; the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein when the computer-readable instructions are executed, a sensor compensation method provided in the aforementioned embodiment is executed.

[0018] Through this application, the following steps are adopted: obtaining the output signal curve of the strain-type force sensor when loaded under the force standard machine, and obtaining the load measurement curve of the strain-type force sensor, wherein the strain-type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; determining the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determining the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula according to the change state; calculating the compensation value of the strain-type force sensor according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve; compensating the measurement curve by the compensation value, and obtaining the actual load curve of the strain-type force sensor after creep compensation. The problem of low accuracy and efficiency of manual creep compensation operation on the sensor in the related art is solved. By determining the change state of the load according to the trend of the measurement curve, and then determining the compensation formula and corresponding compensation parameters for compensation according to the change state, it is ensured that the sensor output value can be accurately creep compensated under different load loading conditions, thereby achieving the technical effect of improving the compensation efficiency and accuracy of the sensor output value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a flow chart of a sensor compensation method provided in an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of an optional load variation curve provided according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a compensation system for a sensor provided in an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of a compensation device of a sensor provided in an embodiment of the present application;

[0024] Figure 5 It is a schematic diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] It should be noted that the sensor compensation method, device and electronic device determined in the present disclosure can be used in the field of sensor technology, and can also be used in any field outside the field of sensor technology. The application field of the sensor compensation method, device and electronic device determined in the present disclosure is not limited.

[0029] It should be noted that the collected information, user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) used in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data are in compliance with the relevant laws, regulations and standards of the relevant regions, necessary confidentiality measures are taken, and public order and good customs are not violated. Corresponding operation portals are provided for users to choose to authorize or refuse to use. If the user chooses to refuse, the expert decision-making process will be entered. For example, an interface is set up between this system and relevant users or institutions. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or institution through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or institution.

[0030] The embodiments or examples of the present disclosure are not exhaustive, but are only illustrative of some embodiments or examples, and are not intended to be specific limitations on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment or example can be implemented as an independent example, and the steps can be combined arbitrarily. For example, the scheme after removing some steps in a certain embodiment or example can also be implemented as an independent example, and the order of the steps in a certain embodiment or example can be arbitrarily exchanged. In addition, the optional methods or optional examples in a certain embodiment or example can be combined arbitrarily; in addition, the various embodiments or examples can be combined arbitrarily, for example, some or all steps of different embodiments or examples can be combined arbitrarily, and a certain embodiment or example can be combined arbitrarily with the optional methods or optional examples of other embodiments or examples.

[0031] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0032] Strain sensor: a device that converts mechanical force into a measurable electrical signal. Its working principle is based on the resistance strain effect. Specifically, when the sensor is subjected to external force, the internal elastic body (usually metal or alloy) will undergo a slight deformation, which will cause the resistance value of the resistance strain gauge attached to the elastic body to change. Through the internal wiring bridge, the resistance strain gauge is combined into a full bridge, half bridge or quarter bridge, and the functional relationship between the bridge pressure change and the mechanical load is established. The mechanical force value can be obtained by monitoring the bridge pressure change.

[0033] Force standard machine: It is a high-precision measuring device used to calibrate and test the performance of force sensors. It can provide known and traceable force values. It is usually equipped with a precision loading system and force measurement system. It can load the sensor according to the preset force value and loading rate, so as to test the output characteristics of the sensor under different force values.

[0034] Load: Usually refers to the force or moment acting on a structure or equipment.

[0035] Standard sensor: A sensor used as a reference during calibration and testing. It has known and calibrated output characteristics and usually has high accuracy and good stability.

[0036] According to an embodiment of the present application, a compensation method for a sensor is provided.

[0037] Figure 1 FIG. 1 is a flow chart of a sensor compensation method according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0038] Step S101, obtaining an output signal curve of the strain type force sensor when loaded under a force standard machine, and obtaining a load measurement curve of the strain type force sensor, wherein the strain type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve.

[0039] Specifically, when compensating the strain-type force sensor, it is first necessary to place it on the loading platform of the force standard machine. The force standard machine loads the sensor according to a preset program, starting from zero load and gradually increasing to the maximum load, so that the sensor obtains the pressure value in the process and outputs the pressure curve to obtain the load-time curve, which can reflect the output characteristics of the sensor under different loads.

[0040] It should be noted that the output signal curve obtained by the sensor has not been creep compensated, so it will contain creep errors, resulting in inaccurate load values ​​in the curve. At this time, it is necessary to perform creep compensation on the output signal curve to adjust the output signal curve to an accurate state to ensure the accuracy of the sensor output value.

[0041] It should be noted that the force standard machine can be replaced with other devices that apply load to the strain-type force sensor. The output load of the device can be measured by the strain-type force sensor, and the measured value can be compensated by creep compensation, thereby ensuring the accuracy of the sensor's measured value.

[0042] Step S102, determining the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determining the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula according to the change state.

[0043] Specifically, when obtaining a measurement curve output by a strain-type force sensor, the changing state of the measurement curve can be determined based on the trend of the load measured in the measurement curve. For example, if the load in the measurement curve is rising or falling at any time, the change in the load is a continuous change, and the changing state of the curve is a continuous load change state. If the load in the measurement curve is horizontal in multiple time periods, the change in the load is an intermittent change, and the changing state of the curve is an intermittent load change state. Then, the changing state of the test curve is obtained, and the compensation formula and compensation parameters are determined based on the changing state, and then the test curve is compensated according to the compensation formula and compensation parameters.

[0044] It should be noted that different curve change states correspond to different compensation formulas. For continuously changing curves, the compensation formula is the cumulative creep compensation formula for a single load. For intermittently changing curves, the compensation formula includes the compensation formula corresponding to each interval. Therefore, according to different load application conditions, different calculation formulas and corresponding calculation parameters are used to calculate the creep compensation value, thereby ensuring the accuracy of creep compensation.

[0045] Step S103, calculating the compensation value of the strain type force sensor according to the compensation formula, the compensation parameters and the curve coefficient of the measurement curve.

[0046] Specifically, when the compensation formula and compensation parameters are obtained, the compensation value corresponding to each sensor measurement value in the measurement curve can be calculated according to the compensation formula and compensation parameters, so that when the compensation value corresponding to each measurement point is obtained, the subsequent compensation operation on the measurement curve can be completed.

[0047] For example, Formula 1 is the cumulative creep compensation formula for a single load. When the compensation formula (i.e. Formula 1) and compensation parameters (i.e. A, B, λ in Formula 1) are obtained, the curve coefficient can be calculated based on the parameters in the test curve. and t, and then calculate the compensation value at each load collection time t according to the above parameters.

[0048] (1)

[0049] Among them, A is the attenuation coefficient, B is the proportional coefficient, λ is the attenuation rate, t is the sampling time, is the minimum sampling period of the instrument, After each sampling period, the actual load increment, function group number , is the total duration of the time window that requires creep compensation.

[0050] It should be noted that in the calculation formula When , the calculation method of each increment is to subtract the compensated real load value at the sampling moment before the sampling moment from the compensated real load value at the previous two sampling moments. For example, F1 is the load collected at the sampling moment t1. Since this load does not have the previous two sampling moments, is F0-0, F2 is the load collected at the collection time t2, then is F1-F0, F3 is the load collected at the collection time t3, then is F2-F1, and so on, to obtain the accurate The value of .

[0051] Step S104, compensating the measured curve by using the compensation value to obtain the actual load curve of the strain type force sensor after creep compensation.

[0052] Specifically, when the compensation value is obtained, the compensation value F at each load collection time can be obtained. 蠕 , and obtain the output value F at each load collection time from the test curve 传, and F is calculated by formula 2 实 Calculation is performed to obtain the actual load curve of the compensated strain-type force sensor after creep compensation, thereby ensuring the accuracy of the load value of the sensor in the actual load curve after creep compensation.

[0053] (2)

[0054] The compensation method of the sensor provided in the embodiment of the present application obtains the load measurement curve of the strain type force sensor by obtaining the output signal curve of the strain type force sensor when loaded under the force standard machine, wherein the strain type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; the change state of the load applied by the force standard machine is determined according to the trend of the measurement curve, and the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula are determined according to the change state; the compensation value of the strain type force sensor is calculated according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve; the measurement curve is compensated by the compensation value to obtain the actual load curve of the strain type force sensor after creep compensation. The problem of low accuracy and efficiency of manual creep compensation operation on the sensor in the related art is solved. By determining the change state of the load according to the trend of the measurement curve, and then determining the compensation formula and corresponding compensation parameters for compensation according to the change state, it is ensured that the sensor output value can be accurately creep compensated under different load loading conditions, thereby achieving the technical effect of improving the compensation efficiency and accuracy of the sensor output value.

[0055] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, the change state includes a continuous load change state, and determining the compensation formula for compensating the measured curve and the compensation parameters in the compensation formula according to the change state includes: obtaining the cumulative creep formula corresponding to the continuous load change state, and obtaining the first test curve and the first standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs the first test operation, wherein the force standard machine performs the first test operation according to the first ideal load curve, the load change state of the first ideal load curve is a continuous load change state, and the standard sensor is a sensor that has performed a creep compensation operation; determining the compensation parameters in the cumulative creep formula according to the load value in the first test curve and the load value in the first standard curve, and determining the cumulative creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0056] Specifically, when the load is continuously changing, the cumulative creep formula can be determined as the compensation formula for this scenario. Before calculating the compensation value according to the compensation formula and the compensation parameter, the compensation parameter in the compensation formula needs to be accurately determined. When the change state is a continuous load change state, the compensation formula is as shown in Formula 1. At this time, the compensation parameters A, B, and λ in the formula are all in an unknown state. At this time, it is necessary to compare the first standard curve output by the standard sensor and the first test curve output by the strain force sensor. The difference between the output values ​​at each sampling moment in the two curves is used to fit the compensation parameters, so that the output value at each sampling point in the first test curve can be fitted by the fitted compensation parameter and the fitting value calculated by the compensation formula, and the same output value of the sampling point under the first standard curve is obtained, thereby completing the calculation operation of the compensation parameters in the compensation formula.

[0057] First, the strain-type force sensor and the standard sensor need to be placed on the operating platform of the force standard machine, and the load is loaded through the force standard machine according to the first test operation to obtain the first test curve and the first standard curve, and the load values ​​collected by the two sensors at each collection time are obtained, thereby obtaining multiple pairs of load values.

[0058] Furthermore, the compensation parameters in the compensation formula are solved according to multiple pairs of load values ​​to obtain relatively accurate compensation parameters, thereby determining the compensation parameters and compensation formula as the compensation parameters and compensation formula of the strain-type force sensor under a state of continuous load change.

[0059] In this embodiment, by setting a standard sensor, the formula parameters are solved by the output values ​​of the first standard curve output by the standard sensor and the first test curve output by the strain force sensor, thereby ensuring the accuracy of the compensation formula and compensation parameters.

[0060] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, determining the compensation parameters in the cumulative creep formula according to the load values ​​in the first test curve and the load values ​​in the first standard curve includes: obtaining the load values ​​at M load value collection moments in the first test curve to obtain M first load values; obtaining the load values ​​at M load value collection moments in the first standard curve to obtain M second load values; determining the first load value and the second load value at the same collection moment as a group of load values ​​to obtain M groups of load values, and fitting each parameter in the cumulative creep formula according to the M groups of load values ​​to obtain the compensation parameters in the cumulative creep formula, wherein the compensation parameters are used to fit the first load value to the second load value.

[0061] Specifically, when calculating the compensation parameters, it is first necessary to select M data collection points in the first test curve, where M should be large enough to cover all stages of the entire loading process. The time points of these data points should be consistent with the time points of the first standard curve to ensure the comparability of the data and the accuracy of the compensation parameters. At each selected moment, the output signal of the sensor is read and converted into the load value of the sensor, which is recorded as M first load values.

[0062] Furthermore, since the first standard curve provides the actual load value of the standard sensor of the force standard machine at the same time point, it is necessary to select M data points corresponding to the first test curve from this curve in turn, and read the load value of the actual loading force, which is recorded as M second load values.

[0063] In order to establish the relationship between the first test curve and the first standard curve, the first load value and the second load value at the same acquisition time can be combined into a group to obtain M groups of load values, and a fitting algorithm (such as least squares method, regression analysis, etc.) is used to fit the parameters in the cumulative creep formula to solve the unknown compensation parameters in the formula, wherein the compensation parameters reflect the size and characteristics of the creep effect and can be used to correct the output signal of the sensor to make it closer to the true value.

[0064] This embodiment obtains accurate compensation parameters by fitting the load values ​​at the same acquisition time, thereby improving the accuracy of the sensor output signal, especially in long-term measurement and high-precision load detection, which can effectively reduce the system error caused by the creep effect. In addition, by automatically calculating the compensation parameters, the inconsistency and uncertainty of manual calculations are avoided, the consistency of compensation is improved, and the production efficiency and quality stability of the sensor are improved.

[0065] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, the change state includes a load discontinuous change state, and determining the compensation formula for compensating the measured curve and the compensation parameters in the compensation formula according to the change state includes: obtaining the discontinuous creep formula corresponding to the load discontinuous change state, and obtaining the second test curve and the second standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs a second test operation, wherein the force standard machine performs the second test operation according to the second ideal load curve, the load change state of the second ideal load curve is a load discontinuous change state, and the standard sensor is a sensor that has performed a creep compensation operation; determining the compensation parameters in the discontinuous creep formula according to the load value in the second test curve and the load value in the second standard curve, and determining the discontinuous creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0066] Specifically, when the load intermittent change state is determined, the intermittent creep formula can be determined as the compensation formula in this scenario. Before calculating the compensation value based on the compensation formula and the compensation parameter, the compensation parameter in the compensation formula needs to be accurately determined. When the change state is the load intermittent change state, the compensation formula is shown in Formula 3:

[0067] (3)

[0068] At this time, the compensation parameters A, B, and λ in each sub-formula in Formula 3 are all in an unknown state. At this time, it is necessary to compare the second standard curve output by the standard sensor and the second test curve output by the strain force sensor, and fit the compensation parameters by the difference between the output values ​​at each sampling moment in the two curves, so that the output value at each sampling point in the second test curve can be fitted by the fitted compensation parameter and the fitting value calculated by the compensation formula, and the output value of the sampling point under the second standard curve is the same, thereby completing the calculation operation of the compensation parameter in the compensation formula.

[0069] It should be noted that due to the intermittent load change, the load change curve can be as follows Figure 2 As shown, Figure 2 It is a schematic diagram of an optional load change curve provided according to an embodiment of the present application. When the load level changes, since the load value does not change, no compensation is required at this time, and only creep compensation is required when the load changes.

[0070] When calculating the compensation parameters, first, it is necessary to place the strain-type force sensor and the standard sensor on the operating platform of the force standard machine, and load the load through the force standard machine according to the second test operation to obtain the second test curve and the second standard curve, and obtain the load values ​​collected by the two sensors at each collection time, thereby obtaining multiple pairs of load values.

[0071] It should be noted that when obtaining the load values ​​collected by the two sensors at various collection times, it is necessary to obtain the load values ​​at the collection times when the load values ​​change, and there is no need to obtain the load values ​​at the collection times when the load values ​​are stable, so as to calculate the compensation parameters within the collection time periods when each load value changes.

[0072] For example, Figure 2 The compensation parameters of the curve corresponding to time period 1 in the calculation are calculated to obtain the formula F 蠕1 , and Figure 2 The compensation parameters of the curve corresponding to time period 2 in the calculation are calculated to obtain the formula F 蠕2 , until F is obtained 蠕5 , thereby completing the calculation operation of the compensation parameters in the compensation formula.

[0073] Furthermore, the compensation parameters in the compensation formula are solved according to multiple pairs of load values ​​to obtain relatively accurate compensation parameters, thereby determining the compensation parameters and compensation formula as the compensation parameters and compensation formula of the strain-type force sensor under the state of intermittent load changes.

[0074] In this embodiment, by setting a standard sensor, the formula parameters are solved by the output values ​​of the second standard curve output by the standard sensor and the second test curve output by the strain force sensor, thereby ensuring the accuracy of the compensation formula and compensation parameters.

[0075] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, determining the compensation parameters in the discontinuous creep formula according to the load value in the second test curve and the load value in the second standard curve includes: obtaining the curve portion where the load changes in the second test curve to obtain N first curve segments; obtaining the curve portion where the load changes in the second standard curve to obtain N second curve segments; determining the first curve segment and the second curve end with the same time period as a group of curve segments to obtain N groups of curve segments; for each group of curve segments, obtaining P pairs of load values ​​with the same time moments, and determining the compensation parameters of the creep formula under the load interval corresponding to each group of curve segments according to the P pairs of load values ​​to obtain the compensation parameters under the N discontinuous creep formulas.

[0076] Specifically, since the load only needs to be compensated when it changes intermittently, the curve portion where the load changes in the second test curve can be obtained to obtain N first curve segments, and the curve portion where the load changes in the second standard curve can be obtained to obtain N second curve segments, thereby dividing the curve segments in the same time period into a control group to obtain N groups of curve segments, and then calculating the compensation parameters for each group of curve segments.

[0077] For each group of curve segments, P can be selected to compare the load values ​​at a specific moment, and these load values ​​can be input into the discontinuous creep formula through the algorithm to fit the compensation parameters, thereby obtaining the compensation parameters corresponding to each group of curve segments. In this way, the compensation parameters in the creep formula are independently calculated under the load interval corresponding to each group of curve segments, and finally the compensation parameters under N discontinuous creep formulas are obtained.

[0078] This embodiment obtains multiple groups of curve segments by dividing the curve, and then calculates the creep compensation parameters in each load change interval by comparing them with the output of the standard sensor of the force standard machine, thereby effectively compensating for the creep error of the sensor during intermittent loading and improving its accuracy and stability under dynamic measurement conditions.

[0079] Optionally, in the compensation method of the sensor provided in an embodiment of the present application, calculating the compensation value of the strain-type force sensor according to the compensation formula, compensation parameters and curve coefficients of the measurement curve includes: segmenting the measurement curve according to the load intervals corresponding to N discontinuous creep formulas to obtain N test curves; using the discontinuous creep formula, compensation parameters and curve coefficients of the measurement curve corresponding to each test curve to calculate the compensation value of the strain-type force sensor to obtain N compensation values ​​of the measurement curve.

[0080] Specifically, when the load measurement curve is a curve in a state of intermittent load change, it is first necessary to segment the load measurement curve to obtain N test curves, and calculate the compensation value under each test curve according to the compensation parameters and compensation formulas corresponding to the test curve, thereby obtaining N compensation values, and then use each compensation value to compensate the output value in the test curve to which it belongs, to obtain a compensated test curve, that is, a more accurate load measurement curve.

[0081] This embodiment divides the measured curve into segments according to the load change, and determines the discontinuous creep formula and compensation parameters corresponding to each segment of the curve. Then, the discontinuous creep formula, compensation parameters and curve coefficient of the sensor are used to calculate the compensation value in each load interval, thereby effectively eliminating the creep error of the sensor during dynamic loading and significantly improving its accuracy and stability in complex measurement environments.

[0082] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, the output signal curve of the strain-type force sensor when loaded under the force standard machine is obtained, and the load measurement curve of the strain-type force sensor is obtained, including: determining the sampling frequency of the strain-type force sensor to obtain the load value, and obtaining the difference between the load values ​​collected at two adjacent sampling moments to obtain the target difference; judging whether the target difference is greater than a preset threshold; when the target difference is less than the preset threshold, determining that the load value is invalid until the target difference is greater than or equal to the preset threshold; when the target difference is greater than or equal to the preset threshold, starting to record the load value obtained by the strain-type force sensor until the total sampling time for collecting the load value according to the sampling frequency reaches the preset time, and generating a measurement curve from the collected load value.

[0083] Specifically, in order to ensure the accuracy of the load value in the measurement curve, the sampling frequency of the sensor needs to be set before the test begins. The sampling frequency determines the density of data collection. A higher sampling frequency can capture creep changes more accurately and will also generate more data. Subsequently, the sensor begins to collect data and records the load value output by the sensor at each sampling frequency interval. In order to determine whether the load value is a load change imposed by the force standard machine or a load change caused by zero drift, it is necessary to calculate the target difference between two adjacent load value recording points, and determine whether the sampled load value is valid based on the target difference, that is, whether it is the load imposed by the force standard machine.

[0084] It should be noted that when the target difference is obtained, it is necessary to determine whether the target difference is greater than the preset threshold. When the target difference is less than the preset threshold, it indicates that the change in load is low, and it can be determined that the load has changed due to zero drift. At this time, the load value is determined to be invalid and is not recorded until the target difference is greater than or equal to the preset threshold, indicating that the force standard machine has applied a load to the sensor. The load value is then measured until the total time for collecting the load reaches the preset time, thereby completing the collection operation of the load applied to the force standard machine and ensuring the accuracy and completeness of the collected load value.

[0085] This embodiment can effectively identify and record the changes in the effective load value of the sensor during the loading process of the force standard machine by setting the sampling frequency, threshold judgment and effective data recording, avoiding data errors introduced by noise or slight changes in the initial loading period. The generated measurement curve not only reflects the real-time output characteristics of the sensor, but also ensures the validity of the data through the threshold judgment process, thereby providing a high-quality data basis for subsequent creep compensation.

[0086] Optionally, in the compensation method of the sensor provided in the embodiment of the present application, before obtaining the output signal curve of the strain type force sensor when loaded under the force standard machine and obtaining the load measurement curve of the strain type force sensor, the method also includes: using the force standard machine to apply a load to the same standard sensor using the same load loading curve to obtain multiple load curves; comparing the multiple load curves, and determining whether the repeatability and linearity of the force standard machine meet the preset requirements based on the comparison results; when the repeatability and linearity both meet the preset requirements, determining that the force standard machine has no abnormality; when the repeatability and / or linearity do not meet the preset requirements, determining that the force standard machine has an abnormality.

[0087] It should be noted that in order to ensure the accuracy of the force standard machine when applying load, before testing the strain-type force sensor, it is first necessary to verify whether the performance of the force standard machine itself is stable and accurate. You can select a standard sensor with known good performance and install it on the force standard machine. Then, use the preset load loading curve to load test this standard sensor. The load loading curve will describe the change of force value over time. Repeat this process multiple times (for example, 5 times, 10 times or more), using the same loading curve each time, and record the curve of the force value output by the standard sensor over time during each loading test to obtain multiple load curves.

[0088] After collecting multiple load curves, these curves will be compared and analyzed. The comparative analysis usually includes two parts: one is to evaluate the repeatability of the force standard machine, that is, whether the curves of the output force value changing with time overlap or have little difference under multiple loading; the second is to check the linearity of the force standard machine, that is, whether the relationship between the force value and time conforms to the expected linear or functional relationship. For repeatability, it can be evaluated by calculating the average deviation of the force values ​​of multiple curves at the same time point. For linearity, it can be judged by fitting each curve and comparing the consistency of the slope of the fitted straight line, so as to ensure that the force standard machine has good repeatability and linearity during the loading process.

[0089] When determining repeatability and linearity, the preset requirement thresholds for repeatability and linearity can be set first. If the repeatability and linearity of the force standard machine remain within the preset requirements in all tests, it can be confirmed that there is no abnormality in the force standard machine and the force standard machine can be used for calibration, compensation and testing of strain gauge force sensors. On the contrary, if the evaluation results of repeatability and / or linearity do not meet the preset requirements, it is characterized that the force standard machine may have measurement errors or mechanical failures and cannot be used for subsequent tests. Therefore, by pre-verifying the stability and accuracy of the force standard machine, it is avoided to use abnormal force standard machines for testing, thereby ensuring the reliability and accuracy of subsequent calibration and test results.

[0090] For example, poor repeatability indicates that there is tilt between the individual weight discs of the weight group of the standard machine, resulting in failure in data loading repeatability, and poor linearity indicates that there is an error in the counterweight block of the standard machine, which needs to be checked and replaced.

[0091] This embodiment obtains multiple load curves through multiple loading tests of standard sensors, and compares and analyzes these curves, thereby evaluating the repeatability and linearity of the force standard machine, and determining the accuracy of the force standard machine based on the evaluation results, thereby improving the accuracy and reliability of the overall calibration and testing process.

[0092] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0093] Figure 3 is a schematic diagram of a compensation system of a sensor provided in an embodiment of the present application, such as Figure 3 As shown, the system includes: a strain type force sensor, a force standard machine and a strain type sensor measuring instrument, wherein:

[0094] The strain gauge sensor measuring instrument has a built-in RTC module, which is connected to the strain gauge sensor using a six-wire connection method, in which two lines provide bridge voltage for the sensor, two lines monitor the change of bridge voltage, and two lines obtain the output pressure difference of the sensor. This six-wire test method can effectively reduce the impact of the change of bridge voltage caused by the contact resistance of the cable connector, the cable length, and the change of the ambient temperature of the cable on the sensor output, thereby obtaining the real-time output value of the sensor.

[0095] The force standard machine is equipped with a force standard sensor and an RTC module. During the sensor loading test, the actual loading load data (standard force value-time curve) can be output to the strain sensor measuring instrument through the force standard sensor. Among them, the strain sensor, the force standard machine and the strain sensor measuring instrument are synchronized through the internal RTC module (RTC synchronization is performed before the program starts).

[0096] By outputting the actual loading data through the force standard sensor, the actual loading curve (standard force value-time curve) under the standard loading program of the force standard machine can be fitted, so that the compensation parameters of the compensation formula of the strain type force sensor can be determined according to the actual loading curve, thereby ensuring the accuracy of the compensation parameters.

[0097] The present application also provides a compensation device for a sensor. It should be noted that the compensation device for a sensor in the present application can be used to execute the compensation method for a sensor provided in the present application. The compensation device for a sensor provided in the present application is introduced below.

[0098] Figure 4 Schematic diagram of a compensation device for a sensor provided in an embodiment of the present application. Figure 4 As shown, the device includes: an acquisition unit 41, a first determination unit 42, a calculation unit 43, and a compensation unit 44.

[0099] The acquisition unit 41 is used to acquire the output signal curve of the strain type force sensor when it is loaded under the force standard machine, and obtain the load measurement curve of the strain type force sensor, wherein the strain type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve.

[0100] The first determination unit 42 is used to determine the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determine the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula according to the change state.

[0101] The calculation unit 43 is used to calculate the compensation value of the strain type force sensor according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve.

[0102] The compensation unit 44 is used to compensate the measured curve by using the compensation value to obtain the actual load curve of the strain type force sensor after creep compensation.

[0103] The compensation device of the sensor provided in the embodiment of the present application obtains the output signal curve of the strain-type force sensor when loaded under the force standard machine through the acquisition unit 41, and obtains the load measurement curve of the strain-type force sensor, wherein the strain-type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; the first determination unit 42 determines the change state of the load applied by the force standard machine according to the trend of the measurement curve, and determines the compensation formula for compensating the measurement curve and the compensation parameters in the compensation formula according to the change state; the calculation unit 43 calculates the compensation value of the strain-type force sensor according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve; the compensation unit 44 compensates the measurement curve by the compensation value to obtain the actual load curve of the strain-type force sensor after creep compensation. The problem of low accuracy and efficiency of manual creep compensation operation on the sensor in the related art is solved. By determining the change state of the load according to the trend of the measurement curve, and then determining the compensation formula and corresponding compensation parameters for compensation according to the change state, it is ensured that the sensor output value can be accurately creep compensated under different load loading conditions, thereby achieving the technical effect of improving the compensation efficiency and accuracy of the sensor output value.

[0104] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the change state includes a continuous load change state, and the first determination unit 42 includes: a first acquisition module, used to obtain the cumulative creep formula corresponding to the continuous load change state, and obtain the first test curve and the first standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs the first test operation, wherein the force standard machine performs the first test operation according to the first ideal load curve, the load change state of the first ideal load curve is a continuous load change state, and the standard sensor is a sensor that has performed a creep compensation operation; a first determination module, used to determine the compensation parameters in the cumulative creep formula according to the load value in the first test curve and the load value in the first standard curve, and determine the cumulative creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0105] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the first determination module includes: a first acquisition submodule, used to acquire the load values ​​at M load value acquisition moments in the first test curve, and obtain M first load values; a second acquisition submodule, used to acquire the load values ​​at M load value acquisition moments in the first standard curve, and obtain M second load values; the first determination submodule, used to determine the first load value and the second load value at the same acquisition moment as a group of load values, and obtain M groups of load values, and fit each parameter in the cumulative creep formula according to the M groups of load values ​​to obtain the compensation parameters in the cumulative creep formula, wherein the compensation parameters are used to fit the first load value to the second load value.

[0106] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the change state includes a load discontinuous change state, and the first determination unit 42 includes: a second acquisition module, used to obtain the discontinuous creep formula corresponding to the load discontinuous change state, and obtain the second test curve and the second standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs the second test operation, wherein the force standard machine performs the second test operation according to the second ideal load curve, the load change state of the second ideal load curve is the load discontinuous change state, and the standard sensor is a sensor that has performed a creep compensation operation; a second determination module, used to determine the compensation parameters in the discontinuous creep formula according to the load value in the second test curve and the load value in the second standard curve, and determine the discontinuous creep formula as the compensation formula to obtain the compensation parameters and the compensation formula.

[0107] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the second determination module includes: a third acquisition submodule, used to acquire the curve portion where the load changes in the second test curve, and obtain N first curve segments; a fourth acquisition submodule, used to acquire the curve portion where the load changes in the second standard curve, and obtain N second curve segments; the second determination submodule, used to determine the first curve segment and the second curve end with the same time period as a group of curve segments, and obtain N groups of curve segments; the third determination submodule, used to acquire P pairs of load values ​​that are the same at the same time for each group of curve segments, and determine the compensation parameters of the creep formula under the load interval corresponding to each group of curve segments according to the P pairs of load values, and obtain the compensation parameters under N discontinuous creep formulas.

[0108] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the calculation unit 43 includes: a segmentation module, which is used to segment the measurement curve according to the load intervals corresponding to N discontinuous creep formulas to obtain N test curves; a calculation module, which is used to calculate the compensation value of the strain type force sensor using the discontinuous creep formula corresponding to each test curve, the compensation parameters and the curve coefficient of the measurement curve to obtain N compensation values ​​of the measurement curve.

[0109] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, the acquisition unit 41 includes: a third determination module, used to determine the sampling frequency of the strain type force sensor to obtain the load value, and obtain the difference between the load values ​​collected at two adjacent sampling moments to obtain the target difference; a judgment module, used to judge whether the target difference is greater than a preset threshold; a fourth determination module, used to determine that the load value is invalid when the target difference is less than the preset threshold, until the target difference is greater than or equal to the preset threshold; a generation module, used to start recording the load value obtained by the strain type force sensor when the target difference is greater than or equal to the preset threshold, until the total sampling time for collecting the load value according to the sampling frequency reaches the preset time, and a measurement curve is generated from the collected load value.

[0110] Optionally, in the compensation device of the sensor provided in the embodiment of the present application, before obtaining the output signal curve of the strain-type force sensor when loaded under the force standard machine and obtaining the load measurement curve of the strain-type force sensor, the device also includes: an application unit, used to use the force standard machine to apply load to the same standard sensor using the same load loading curve to obtain multiple load curves; a comparison unit, used to compare the multiple load curves, and determine whether the repeatability and linearity of the force standard machine meet preset requirements based on the comparison results; a second determination unit, used to determine that the force standard machine has no abnormality when both the repeatability and linearity meet the preset requirements; a third determination unit, used to determine that the force standard machine has an abnormality when the repeatability and / or linearity do not meet the preset requirements.

[0111] The compensation device of the above-mentioned sensor includes a processor and a memory. The above-mentioned acquisition unit 41, the first determination unit 42, the calculation unit 43, the compensation unit 44, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0112] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low accuracy and efficiency of manual creep compensation operation on the sensor in the related art is solved by adjusting the kernel parameters.

[0113] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0114] An embodiment of the present invention provides a computer-readable storage medium on which a program is stored. When the program is executed by a processor, the compensation method of the sensor is implemented.

[0115] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0116] An embodiment of the present invention provides a processor, which is used to run a program, wherein the compensation method of the sensor is executed when the program is run.

[0117] An embodiment of the present invention provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, a compensation method for a sensor provided in the above embodiment is implemented.

[0118] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program runs, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned sensor compensation method.

[0119] Figure 5 is a schematic diagram of an electronic device provided according to an embodiment of the present application, such as Figure 5 As shown, an embodiment of the present invention provides an electronic device, the electronic device 50 includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the steps of the above sensor compensation method when executing the program. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0120] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the program of initializing the steps of the compensation method of the above sensor.

[0121] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A sensor compensation method, characterized in that: include: Obtaining an output signal curve of the strain-type force sensor when loaded under a force standard machine to obtain a load measurement curve of the strain-type force sensor, wherein the strain-type force sensor is an uncompensated sensor and the output signal curve is a load-time curve; Determining a change state of the load applied by the force standard machine according to the trend of the measurement curve, and determining a compensation formula for compensating the measurement curve and compensation parameters in the compensation formula according to the change state; Calculating a compensation value of the strain type force sensor according to the compensation formula, the compensation parameter and a curve coefficient of the measurement curve; The measured curve is compensated by the compensation value to obtain an actual load curve of the strain type force sensor after creep compensation.

2. The method according to claim 1, characterized in that The change state includes a load continuous change state, and the compensation formula for compensating the measured curve is determined according to the change state, and the compensation parameters in the compensation formula include: Obtaining a cumulative creep formula corresponding to the load continuously changing state, and obtaining a first test curve and a first standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs a first test operation, wherein the force standard machine performs the first test operation according to a first ideal load curve, the load change state of the first ideal load curve is the load continuously changing state, and the standard sensor is a sensor that has performed a creep compensation operation; The compensation parameters in the cumulative creep formula are determined according to the load value in the first test curve and the load value in the first standard curve, and the cumulative creep formula is determined as the compensation formula to obtain the compensation parameters and the compensation formula.

3. The method according to claim 2, characterized in that Determining the compensation parameter in the cumulative creep formula according to the load value in the first test curve and the load value in the first standard curve includes: Obtaining load values ​​at M load value collection moments in the first test curve to obtain M first load values, where M is a positive integer; Obtaining the load values ​​at the M load value collection moments in the first standard curve to obtain M second load values; The first load value and the second load value at the same acquisition time are determined as a group of load values ​​to obtain M groups of load values, and the various parameters in the cumulative creep formula are fitted according to the M groups of load values ​​to obtain compensation parameters in the cumulative creep formula, wherein the compensation parameters are used to fit the first load value to the second load value.

4. The method according to claim 1, characterized in that: The change state includes a load intermittent change state, and the compensation formula for compensating the measured curve is determined according to the change state, and the compensation parameters in the compensation formula include: Obtaining a discontinuous creep formula corresponding to the discontinuous load change state, and obtaining a second test curve and a second standard curve obtained by the strain-type force sensor and the standard sensor when the force standard machine performs a second test operation, wherein the force standard machine performs the second test operation according to a second ideal load curve, the load change state of the second ideal load curve is the discontinuous load change state, and the standard sensor is a sensor that has performed a creep compensation operation; The compensation parameters in the discontinuous creep formula are determined according to the load value in the second test curve and the load value in the second standard curve, and the discontinuous creep formula is determined as the compensation formula to obtain the compensation parameters and the compensation formula.

5. The method according to claim 4, characterized in that Determining the compensation parameter in the discontinuous creep formula according to the load value in the second test curve and the load value in the second standard curve includes: Obtaining a curve portion of the second test curve where the load changes, to obtain N first curve segments, where N is a positive integer; Obtaining a curve portion of the second standard curve where the load changes, to obtain N second curve segments; Determine the first curve segment and the second curve end with the same time period as a group of curve segments to obtain N groups of curve segments; For each group of curve segments, obtain P pairs of load values ​​at the same time, and determine the compensation parameters of the creep formula under the load interval corresponding to each group of curve segments according to the P pairs of load values, and obtain the compensation parameters under N discontinuous creep formulas, where P is a positive integer.

6. The method according to claim 5, characterized in that Calculating the compensation value of the strain type force sensor according to the compensation formula, the compensation parameter and the curve coefficient of the measurement curve includes: According to the load intervals corresponding to the N discontinuous creep formulas, the measurement curve is segmented to obtain N segments of test curves; The compensation value of the strain type force sensor is calculated using the discontinuous creep formula corresponding to each test curve, the compensation parameter and the curve coefficient of the measurement curve to obtain N compensation values ​​of the measurement curve.

7. The method according to claim 1, characterized in that Obtaining an output signal curve of the strain type force sensor when loaded under a force standard machine, and obtaining a load measurement curve of the strain type force sensor includes: Determine the sampling frequency of the strain type force sensor to obtain the load value, and obtain the difference between the load values ​​collected at two adjacent sampling moments to obtain the target difference; Determine whether the target difference is greater than a preset threshold; In the case where the target difference is less than the preset threshold, determining that the load value is invalid until the target difference is greater than or equal to the preset threshold; When the target difference is greater than or equal to the preset threshold, start recording the load value acquired by the strain-type force sensor until the total sampling time for collecting the load value at the sampling frequency reaches the preset time, and generate the measurement curve based on the collected load value.

8. The method according to claim 1, characterized in that Before obtaining the output signal curve of the strain type force sensor when loaded under the force standard machine and obtaining the load measurement curve of the strain type force sensor, the method further includes: Using the force standard machine to apply load to the same standard sensor using the same load curve to obtain multiple load curves; Comparing the multiple load curves, and determining whether the repeatability and linearity of the force standard machine meet preset requirements according to the comparison results; When the repeatability and the linearity meet the preset requirements, it is determined that there is no abnormality in the force standard machine; When the repeatability and / or the linearity do not meet the preset requirements, it is determined that an abnormality exists in the force standard machine.

9. A compensation device for a sensor, characterized in that: include: an acquisition unit, used for acquiring an output signal curve of the strain type force sensor when it is loaded under a force standard machine, and obtaining a load measurement curve of the strain type force sensor, wherein the strain type force sensor is an uncompensated sensor, and the output signal curve is a load-time curve; A first determining unit is used to determine a change state of the load applied by the force standard machine according to the trend of the measurement curve, and to determine a compensation formula for compensating the measurement curve and a compensation parameter in the compensation formula according to the change state; a calculation unit, configured to calculate a compensation value of the strain type force sensor according to the compensation formula, the compensation parameter and a curve coefficient of the measurement curve; The compensation unit is used to compensate the measured curve by using the compensation value to obtain an actual load curve of the strain type force sensor after creep compensation.

10. An electronic device, characterized in that: include: A memory storing an executable program; A processor, configured to run the program, wherein the program executes the sensor compensation method according to any one of claims 1 to 8 when running.

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