Novel torque wrench and bolt rotation angle measuring method and device

Abstract

The invention discloses a novel torque wrench and a bolt rotation angle measuring method and device, and relates to the technical field of torque wrenches or other related fields, and the measuring method comprises the steps that non-contact measurement is carried out on target bolt connection through a circular magnetic sensor array, the circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the novel torque wrench. Magnetic angle values output by the magnetic sensitive element are collected, and analog-to-digital conversion is carried out on all the magnetic angle values; calculating the magnetic angle value in the digital signal format by using a Gaussian process regression calculation method to obtain a rotation angle value; and performing installation error compensation on the rotation angle value through three-position method calibration to obtain a rotation angle measurement result of target bolt connection. The torque wrench solves the technical problems that a traditional torque wrench is limited by mechanical coupling and inertial measurement, the error of rotation angle measurement in a high-rotation-speed scene is large, and the measurement precision is insufficient in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of torque wrenches, and in particular, to a novel torque wrench, a method and a device for measuring the rotation angle of a bolt. Background Art

[0002] With the acceleration of the industrial modernization process, traditional mechanical wrenches are gradually transforming towards the intelligent and digital directions. Modern digital display torque wrenches achieve precise measurement and real-time display of torque through high-precision sensors and electronic display technologies, and become an important tool for precisely applying and measuring torque. However, despite the significant progress made in the torque measurement accuracy of digital display torque wrenches, precise control of the rotation angle remains a technical problem.

[0003] Precise control of the rotation angle during the assembly process of bolts or nuts is crucial. If the rotation angle is insufficient, it may lead to insufficient strength of the connection part. Under the action of mechanical vibration or dynamic load, the connection part may become loose or even completely fall off, reducing the overall stability of the structure, and further causing abnormal vibration or displacement during equipment operation. On the contrary, if the rotation angle is too large, it may cause damage or even breakage of the threads of the bolt or nut, and may also cause excessive stress concentration in the connecting piece, resulting in deformation or cracks. Especially in the connection parts that require sealing, over-tightening may cause damage to the sealing gasket, leading to leakage. Therefore, strictly controlling the rotation angle of bolts or nuts is the key to ensuring the reliability and safety of equipment.

[0004] Currently, when traditional torque wrenches measure the rotation angle, they mainly rely on mechanical coupling or inertial measurement. These methods have large measurement errors and insufficient accuracy in high-speed scenarios, and are easily affected by mechanical wear, friction, oil stains and dust. In addition, when traditional torque wrenches measure the rotation angle, it usually requires the operator to have rich experience, and the measurement results are difficult to achieve data management and traceability, and cannot meet the requirements of modern industry for high precision, intelligence and automation.

[0005] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0006] Embodiments of the present invention provide a novel torque wrench, a method and a device for measuring the rotation angle of a bolt, so as to at least solve the technical problem that in the related art, traditional torque wrenches are limited by mechanical coupling and inertial measurement, and have large errors and insufficient measurement accuracy in measuring the rotation angle in high-speed scenarios.

[0007] According to one aspect of the embodiments of the present invention, a method for measuring the rotation angle of a bolt based on a new type of torque wrench is provided. N magnetosensitive elements are evenly distributed on the new type of torque wrench, where N is a specified value. The rotation angle measurement method includes: performing non-contact measurement on the target bolt connection through a circular magnetic sensor array, where the circular magnetic sensor array is composed of a magnet located on the bolt and magnetosensitive elements located on the new type of torque wrench. The magnet is used to generate a magnetic field, and the magnetosensitive elements are used to sense the change in the magnetic field and output magnetic angle values; collecting the magnetic angle values output by the magnetosensitive elements and performing analog-to-digital conversion on all the magnetic angle values to obtain magnetic angle values in digital signal format; using the Gaussian process regression calculation method to calculate the magnetic angle values in digital signal format to obtain rotation angle values; and performing installation error compensation on the rotation angle values through three-position calibration to obtain the rotation angle measurement result of the target bolt connection.

[0008] Further, the step of performing installation error compensation on the rotation angle values through three-position calibration to obtain the rotation angle measurement result of the target bolt connection includes: randomly selecting a test bolt and randomly determining 3 calibration measurement positions, where the 3 calibration measurement positions need to satisfy: being evenly distributed on the same circumference and forming a set symmetry relationship of an equilateral triangle; using the new type of torque wrench to perform non-contact measurement on the test bolt at each calibration measurement position and collecting 3 groups of test magnetic angle values, where each calibration measurement position corresponds to a group of test magnetic angle values; calculating an installation error angle value based on the calibration measurement positions and the test magnetic angle values, where the installation error angle value is used to characterize the installation error of the magnetosensitive elements on the new type of torque wrench; and using the installation error angle value to perform compensation calculation on the rotation angle values to obtain the rotation angle measurement result of the target bolt connection.

[0009] Further, before using the Gaussian process regression calculation method to calculate the magnetic angle values in digital signal format to obtain rotation angle values, it further includes: collecting at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set; for the at least one magnetic angle group in the training sample set, calculating a covariance matrix and solving the inverse matrix to obtain an inverse covariance matrix; taking the known rotation angle as a reference angle, taking the magnetic angle group corresponding to the reference angle as a reference magnetic angle group, and storing the reference angle, the reference magnetic angle group, and the inverse covariance matrix in a non-volatile memory.

[0010] Further, the step of calculating the rotational angle value from the magnetic angle value in the digital signal format using the Gaussian process regression calculation method includes: extracting the reference angle in the non-volatile memory, and the reference magnetic angle group and the inverse covariance matrix corresponding to the reference angle; calculating a covariance vector based on the reference magnetic angle group and the magnetic angle value in the digital signal format, and calculating a weight vector based on the covariance vector and the inverse covariance matrix; performing a multiplication operation on the weight vector and the reference angle to obtain the rotational angle value.

[0011] Further, the step of performing analog-to-digital conversion on all the magnetic angle values to obtain the magnetic angle values in the digital signal format includes: conditioning the magnetic angle values in the analog signal format output by the magnetic sensitive element to obtain an analog signal with enhanced quality, where the signal conditioning at least includes: signal amplification and signal filtering; inputting the analog signal with enhanced quality into an analog-to-digital converter to output the magnetic angle values in the digital signal format, where the analog-to-digital converter is used to sample the continuous analog signal and quantize it into a discrete digital signal.

[0012] Further, after obtaining the rotational angle measurement result of the target bolt connection, it further includes: transmitting the process data list generated during the rotational angle measurement of the target bolt connection and the rotational angle measurement result to a cloud platform for data management.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a new type of torque wrench for performing the bolt rotational angle measurement method based on the new type of torque wrench described in any one of the above. The new type of torque wrench includes: a sensing data acquisition module for non-contact measurement of a target bolt connection through a circular magnetic sensor array and acquiring magnetic angle values, where the circular magnetic sensor array includes a magnet located on the bolt and N magnetic sensitive elements located on the new type of torque wrench, the magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the magnetic field change and output the magnetic angle value, and N is a specified value; a core processing module for performing analog-to-digital conversion on all the magnetic angle values to obtain the magnetic angle values in the digital signal format, and using the Gaussian process regression calculation method and three-position method calibration to calculate the rotational angle value and perform installation error compensation on the magnetic angle values in the digital signal format to obtain the rotational angle measurement result of the target bolt connection.

[0014] Further, the new type of torque wrench further includes: a wireless transmission module for transmitting the calculation process of the core processing module and the calculated rotational angle measurement result to the cloud platform.

[0015] Further, the new torque wrench further includes: a torque sensor, a controller module, an LED indicator, and a buzzer. Among them, the torque sensor is used to sense and output the wrench torque value during the operation of the new torque wrench applying torque to the target bolt; the controller module is used to collect the rotation angle measurement result and the wrench torque value; the controller module is further used to control the LED light to flash a first color light and control the buzzer to give an alarm to indicate that the operation is qualified when it is determined that the wrench torque value is within the target torque range and the rotation angle measurement result is less than or equal to the safety angle; or, when it is determined that the wrench torque value exceeds the target torque range, or the rotation angle measurement result is greater than the safety angle, control the LED light to flash a second color light and control the buzzer to give an alarm to indicate that the operation is unqualified.

[0016] According to another aspect of the embodiments of the present invention, there is also provided a bolt rotation angle measuring device based on a new torque wrench. The new torque wrench is provided with N magnetosensitive elements evenly distributed, where N is a specified value. The rotation angle measuring device includes: a measuring unit for non-contact measurement of the target bolt connection through a circular magnetic sensor array, where the circular magnetic sensor array is composed of a magnet located on the bolt and magnetosensitive elements located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetosensitive elements are used to sense the magnetic field change and output a magnetic angle value; an acquisition unit for acquiring the magnetic angle value output by the magnetosensitive elements and performing analog-to-digital conversion on all the magnetic angle values to obtain the magnetic angle value in digital signal format; a calculation unit for calculating the rotation angle value by using the Gaussian process regression calculation method on the magnetic angle value in digital signal format; and an error compensation unit for compensating the installation error of the rotation angle value through three-position method calibration to obtain the rotation angle measurement result of the target bolt connection.

[0017] Further, the error compensation unit includes: a determination module for randomly selecting a test bolt and randomly determining 3 calibration measurement positions, where the 3 calibration measurement positions need to satisfy: being evenly distributed on the same circumference and forming a set symmetry relationship of an equilateral triangle; a measurement module for using the new torque wrench to perform non-contact measurement on the test bolt at each calibration measurement position and acquiring 3 groups of test magnetic angle values, where each calibration measurement position corresponds to a group of test magnetic angle values; a first calculation module for calculating the installation error angle value based on the calibration measurement position and the test magnetic angle value, where the installation error angle value is used to characterize the installation error of the magnetosensitive elements on the new torque wrench; and a second calculation module for using the installation error angle value to perform compensation calculation on the rotation angle value to obtain the rotation angle measurement result of the target bolt connection.

[0018] Further, the bolt rotation angle measuring device based on the new torque wrench further includes: an acquisition module, configured to acquire at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set before calculating the rotation angle value by using the Gaussian process regression calculation method for the magnetic angle value in digital signal format; a third calculation module, configured to calculate a covariance matrix and solve an inverse matrix for the at least one magnetic angle group in the training sample set to obtain an inverse covariance matrix; and a storage module, configured to use the known rotation angle as a reference angle, use the magnetic angle group corresponding to the reference angle as a reference magnetic angle group, and store the reference angle, the reference magnetic angle group, and the inverse covariance matrix in a non-volatile memory.

[0019] Further, the calculation unit includes: an extraction module, configured to extract the reference angle in the non-volatile memory, and the reference magnetic angle group and the inverse covariance matrix corresponding to the reference angle; a fourth calculation module, configured to calculate a covariance vector based on the reference magnetic angle group and the magnetic angle value in digital signal format, and calculate a weight vector based on the covariance vector and the inverse covariance matrix; and a fifth calculation module, configured to perform a multiplication operation on the weight vector and the reference angle to obtain the rotation angle value.

[0020] Further, the acquisition unit includes: a signal conditioning module, configured to perform signal conditioning on the magnetic angle value in analog signal format output by the magnetic sensitive element to obtain an analog signal with enhanced quality, where the signal conditioning at least includes: signal amplification and signal filtering; and an input module, configured to input the analog signal with enhanced quality into an analog-to-digital converter to output the magnetic angle value in digital signal format, where the analog-to-digital converter is configured to sample a continuous analog signal and quantize it into a discrete digital signal.

[0021] Further, the bolt rotation angle measuring device based on the new torque wrench further includes: a transmission module, configured to transmit a process data list generated during the rotation angle measurement of the target bolt connection and the rotation angle measurement result to a cloud platform for data management after obtaining the rotation angle measurement result of the target bolt connection.

[0022] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, it controls a device where the computer-readable storage medium is located to execute the bolt rotation angle measuring method based on the new torque wrench as described in any one of the above.

[0023] According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including one or more processors and a memory, where the memory is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the bolt rotation angle measurement method based on the novel torque wrench described in any one of the above.

[0024] In the present invention, a bolt rotation angle measurement method based on a novel torque wrench is proposed. First, a non-contact measurement is performed on the target bolt connection through a circular magnetic sensor array. The circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the novel torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the magnetic field change and output a magnetic angle value. Then, the magnetic angle values output by the magnetic sensitive element are collected, and all the magnetic angle values are subjected to analog-to-digital conversion to obtain the magnetic angle values in digital signal format. Then, the Gaussian process regression calculation method is used to calculate the magnetic angle values in digital signal format to obtain the rotation angle value. Finally, the installation error compensation is performed on the rotation angle value through three-position calibration to obtain the rotation angle measurement result of the target bolt connection.

[0025] In the present invention, a non-contact measurement method is adopted. Through the means of a high-precision circular magnetic sensor array and the Gaussian process regression calculation method, the purpose of accurately measuring the bolt rotation angle is achieved. Specifically, a circular magnetic sensor array is formed by a magnet located on the bolt and a magnetic sensitive element located on the novel torque wrench. The magnetic sensitive element senses the magnetic field change generated by the magnet and outputs a magnetic angle value, which is converted into digital signal format through analog-to-digital conversion. Subsequently, the Gaussian process regression calculation method is used to process the digital signal to calculate the rotation angle value. Finally, the installation error of the novel sensor on the novel torque wrench is compensated through three-position calibration to obtain a more accurate rotation angle measurement result. The above means can not only avoid the mechanical wear and friction problems brought by traditional mechanical coupling measurement, but also overcome the defect that the inertial measurement has a large error in high-speed scenarios, thus achieving the technical effect of non-contact and high-precision rotation angle measurement. It is especially suitable for high-speed and high-precision industrial assembly scenarios, can significantly improve the reliability and assembly accuracy of bolt connections, and further solves the technical problem that in the related art, the traditional torque wrench is limited by mechanical coupling and inertial measurement, and has a large error in measuring the rotation angle in high-speed scenarios and insufficient measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0027] Figure 1It is a flowchart of an optional bolt rotation angle measurement method based on a new type of torque wrench according to an embodiment of the present invention;

[0028] Figure 2 It is a schematic diagram of the distribution of magnetic sensitive elements on a new type of torque wrench according to an embodiment of the present invention;

[0029] Figure 3 It is a schematic diagram of the principle of an optional signal conditioning circuit according to an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the training stage and operation stage of optional Gaussian process regression according to an embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the structural components of a new type of torque wrench according to an embodiment of the present invention;

[0032] Figure 6 It is a schematic diagram of an optional bolt rotation angle measurement device based on a new type of torque wrench according to an embodiment of the present invention;

[0033] Figure 7 It is a structural block diagram of an electronic device for executing a bolt rotation angle measurement method based on a new type of torque wrench according to an embodiment of the present invention. Detailed implementation manners

[0034] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above accompanying drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] For the convenience of those skilled in the art to understand the present invention, the following explains some terms or nouns involved in each embodiment of the present invention:

[0037] Gaussian Process Regression, GPR, Gaussian process regression, a probability-based non-parametric regression method suitable for dealing with complex non-linear relationships. In the present invention, Gaussian process regression is used to accurately calculate the rotation angle from the digital signal output by the magnetic sensitive element. Through Gaussian process regression training, accurate rotation angle information can be extracted from the noise data to ensure high-precision measurement results.

[0038] ADC, analog-to-digital conversion, the process of converting an analog signal (such as a voltage or current signal) into a digital signal. In the present invention, the continuous analog signal output by the magnetic sensitive element is converted into a discrete digital signal by an analog-to-digital converter (ADC) for easy processing by the core processing module.

[0039] Three-position method calibration, a method for compensating for sensor installation errors through geometric symmetry. In the present invention, by recording the output values of the magnetic sensitive element at three evenly distributed calibration positions (such as 0°, 120°, 240°), the installation error angle of the sensor is calculated and compensated in actual measurement to eliminate the deviation during sensor installation and further improve the accuracy of rotation angle measurement.

[0040] The following embodiments of the present invention can be applied to various systems / applications / devices that require high-precision bolt rotation angle measurement and bolt connection reliability control, and can implement an accurate rotation angle measurement system based on non-contact magnetic field induction and Gaussian process regression calculation. The present invention uses a high-precision circular magnetic sensor array to perform non-contact measurement on the magnetic field change of the magnet at the top of the bolt. The magnetic sensitive element senses the magnetic field change and outputs a magnetic angle value, and then the analog signal is converted into a magnetic angle value in digital signal format through analog-to-digital conversion. Subsequently, the Gaussian process regression calculation method is used to process the digital signal to calculate the rotation angle value. Finally, the three-position method calibration is used to compensate for the installation error of the rotation angle value to ensure the measurement accuracy.

[0041] In specific implementation, the present invention first performs non-contact measurement on bolt connections through a high-precision circular magnetic sensor array. The magnetic sensitive elements are evenly distributed on a circular printed circuit board, which can accurately sense magnetic field changes and output magnetic angle values. Subsequently, the analog signals output by the magnetic sensitive elements are converted into digital signals through analog-to-digital conversion to ensure the quality and stability of the signals. Then, the Gaussian process regression calculation method is used to process the digital signals. The reference angle, covariance matrix, and inverse covariance matrix are calculated during the training stage, and the rotation angle is accurately calculated using these reference values during the operation stage. Finally, the installation error of the rotation angle value is compensated through three-position method calibration to eliminate the deviation during sensor installation and ensure the measurement accuracy.

[0042] Through non-contact measurement and the Gaussian process regression calculation method, the present invention avoids the wear and error problems brought by traditional mechanical coupling measurement, and at the same time overcomes the defect of large errors of inertial measurement in high-speed rotation scenarios, significantly improving the accuracy and reliability of rotation angle measurement. It is not only applicable to industrial assembly scenarios with high speed and high precision, but also can provide technical support for automated assembly lines, promoting the further development of the industrial modernization process.

[0043] The present invention will be described in detail below in conjunction with each embodiment.

[0044] Embodiment 1

[0045] According to an embodiment of the present invention, an embodiment of a method for measuring the rotation angle of a bolt based on a new type of torque wrench is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0046] The implementation subject of the embodiment of the present invention can be a high-precision torque wrench system (such as a new type of torque wrench), or integrated into various high-precision assembly devices such as automated assembly lines, automobile manufacturing, aerospace, industrial robots, and precision equipment assembly platforms. Combining non-contact magnetic field induction and Gaussian process regression calculation technologies, as well as data processing technologies such as analog-to-digital conversion and error compensation, it realizes the efficient and accurate measurement of the rotation angle of bolts, providing a key technical means for improving the reliability and assembly accuracy of bolt connections, and is particularly applicable to industrial assembly scenarios with high speed and high precision, helping to avoid connection failure problems caused by insufficient or excessive rotation angles and improving the stability and safety of equipment operation.

[0047] The embodiment of the present invention will be described in detail below in conjunction with each specific implementation step.

[0048] Figure 1is a flowchart of an optional method for measuring the rotation angle of a bolt based on a new type of torque wrench according to an embodiment of the present invention. As Figure 1 shown, the method includes the following steps:

[0049] Step S101, perform non-contact measurement on the target bolt connection through a circular magnetic sensor array. The circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the new type of torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the change in the magnetic field and output a magnetic angle value.

[0050] Specifically, the magnet is installed on the top of the bolt and rotates as the bolt rotates, generating a changing magnetic field. The rotation angle of the magnet is consistent with the rotation angle of the bolt. Therefore, by measuring the rotation angle of the magnet, the rotation angle of the bolt can be indirectly measured.

[0051] The magnetic sensitive elements (such as Hall sensors) are evenly distributed on the circular printed circuit board of the new type of torque wrench (as Figure 2 shown, Figure 2 is a schematic diagram of the distribution of magnetic sensitive elements on a new type of torque wrench according to an embodiment of the present invention), and are used to sense the change in the magnetic field caused by the rotation of the magnet. Each magnetic sensitive element outputs a magnetic angle value, reflecting the magnetic field strength of the magnet at different positions.

[0052] It should be noted that in high-speed scenarios (such as industrial scenarios with a rotational speed of up to 3000 revolutions per minute), traditional torque wrenches are limited by mechanical coupling and inertial measurement, resulting in large errors and insufficient accuracy in measuring the rotation angle. In the embodiments of the present invention, there is no physical contact between the magnetic sensitive element and the magnet, and the measurement is only carried out through the change in the magnetic field. This non-contact measurement method avoids the problems of friction and wear in traditional mechanical coupling measurement, and at the same time overcomes the defect of large errors in inertial measurement at high speeds, improving the stability and accuracy of the measurement, ensuring high-precision rotation angle measurement, and the error is less than 0.1°.

[0053] In addition, non-contact measurement avoids the problems of friction and wear in traditional mechanical coupling measurement, extends the service life of the equipment, and the magnetic field induction method is not sensitive to environmental factors such as oil stains and dust, and is also applicable to harsh industrial environments.

[0054] Step S102, collect the magnetic angle values output by the magnetic sensitive elements, and perform analog-to-digital conversion on all the magnetic angle values to obtain the magnetic angle values in digital signal format.

[0055] Specifically, analog-to-digital conversion is the process of converting an analog signal into a digital signal. In the embodiments of the present invention, the analog signal output by the magnetic sensitive element is converted into a digital signal by an analog-to-digital converter (ADC). The ADC samples and quantifies the analog signal to generate a magnetic angle value in a discrete digital signal format, which is convenient for the core processing module to perform complex mathematical operations (such as Gaussian process regression calculation) to ensure the accuracy of the rotation angle calculation. Moreover, the digital signal can be conveniently stored in a non-volatile memory and uploaded to the cloud platform through a wireless transmission module to achieve real-time monitoring and traceability of the data.

[0056] During the process of collecting the magnetic angle values, since there are multiple magnetic sensitive elements (such as 8) in the circular magnetic sensor array, it is necessary to collect the magnetic angle values output by multiple magnetic sensitive elements simultaneously. A multi-channel analog-to-digital converter can be used to collect the output signals of multiple magnetic sensitive elements simultaneously, or the output signals of each magnetic sensitive element can be collected sequentially using a single-channel ADC through time-division multiplexing.

[0057] It should be noted that before analog-to-digital conversion, the analog signal needs to pass through a signal conditioning circuit (such as amplification, filtering, etc.) to improve the quality and stability of the signal. For example, common-mode noise is eliminated through a differential amplifier circuit, and high-frequency noise is removed through a low-pass filter.

[0058] Optionally, the step of performing analog-to-digital conversion on all magnetic angle values in step S102 to obtain the magnetic angle values in digital signal format includes: performing signal conditioning on the magnetic angle values in analog signal format output by the magnetic sensitive element to obtain an analog signal with enhanced quality, where the signal conditioning at least includes: signal amplification and signal filtering; inputting the analog signal with enhanced quality into the analog-to-digital converter to output the magnetic angle values in digital signal format, where the analog-to-digital converter is used to sample the continuous analog signal and quantize it into a discrete digital signal.

[0059] It should be noted that the analog signal output by the magnetic sensitive element (such as a Hall sensor) is usually weak and may be affected by noise interference (such as electromagnetic interference, temperature change, etc.). The purpose of signal conditioning is to improve the quality and stability of the signal and ensure the accuracy of subsequent analog-to-digital conversion.

[0060] Among them, signal amplification refers to amplifying the weak analog signal to a range suitable for the input of the analog-to-digital converter (ADC) through an operational amplifier (Op-Amp). The amplification factor is adjusted according to the signal strength and the input range of the ADC to ensure that the signal will not be distorted during the analog-to-digital conversion process.

[0061] Signal filtering refers to removing high-frequency noise through a low-pass filter to ensure the purity of the signal. The cut-off frequency of the low-pass filter is set according to the frequency characteristics of the signal, and usually a cut-off frequency slightly higher than the signal frequency is selected to retain the effective components of the signal.

[0062] Through the signal conditioning and analog-to-digital conversion in step S102, the embodiment of the present invention realizes high-quality acquisition and digital processing of the analog signal output by the magnetosensitive element, and solves the technical problems of large measurement rotation angle error and insufficient accuracy of traditional torque wrenches in high-speed rotation scenarios. At the same time, the embodiment of the present invention also realizes additional beneficial effects such as strong anti-noise ability, high-precision digitization, and adaptation to high-speed rotation scenarios, is applicable to high-precision industrial assembly scenarios, and significantly improves the reliability and assembly accuracy of bolt connections.

[0063] Figure 3 is a schematic diagram of an optional signal conditioning circuit according to an embodiment of the present invention, as Figure 3 shown. The signal conditioning circuit mainly includes components such as resistors (R1, R2, R3, R4), capacitors (100 nF), operational amplifiers (IN_AMP), and reference voltages (+VREF), and realizes the functions of the signal conditioning module and the controller module.

[0064] Among them, the function of the signal conditioning module is realized as follows: Since the bridge analog signal output by the torque sensor is usually relatively weak and may contain noise, the signal conditioning module can amplify and adjust the signal through the operational amplifier (IN_AMP) to ensure that the amplitude of the signal is suitable for subsequent analog-to-digital conversion. In particular, the bridge filter circuit composed of the capacitor (100 nF) and resistors (R1, R2, R3, R4) can remove the high-frequency noise in the signal and ensure the purity of the signal. The reference voltage (+VREF) is used to provide a stable reference voltage for the operational amplifier to ensure the accuracy and consistency of signal conditioning.

[0065] Specifically, in the specific operation process, when the signal conditioning circuit performs signal amplification, the operational amplifier (IN_AMP) is used to amplify the bridge analog signal to a range suitable for the input of the analog-to-digital converter (ADC). The amplification factor is determined by the ratio of the feedback resistor (R12) to the input resistors (R1, R2, R3, R4); when performing signal filtering, the low-pass filter composed of the capacitor (100 nF) and resistors is used to remove the high-frequency noise in the signal and ensure the quality and stability of the signal. In addition, through the adjustment of the reference voltage (+VREF) and the operational amplifier, the DC bias of the signal is adjusted to a range suitable for the input of the analog-to-digital converter.

[0066] In addition, it should be supplemented that the function of the controller module is realized in data acquisition and processing, control of LEDs and buzzers, and data storage and backup. Among them, the conditioned analog signal is converted into a digital signal through an analog-to-digital converter (ADC) and is collected and processed in real time. According to the collected torque value and angle value, the tightening state of the bolt can be judged. When the torque value and angle value are within the target range, the controller module controls the LED to flash green, and the buzzer emits a qualified prompt sound. When the torque value or angle value exceeds the range, it controls the LED to flash red, and the buzzer emits an unqualified prompt sound. The data of each tightening process (including torque value and angle value) is stored in the upper computer and is double-backed up to ensure the reliability and traceability of the data.

[0067] Through the amplification, filtering and adjustment of the signal conditioning module and the real-time acquisition and processing of the controller module, the embodiments of the present invention achieve high-precision measurement and real-time monitoring of torque values and angle values. At the same time, through the prompts of LEDs and buzzers and data storage and backup, the assembly efficiency and data reliability are significantly improved, which is applicable to high-precision industrial assembly scenarios.

[0068] Step S103, use the Gaussian process regression calculation method to calculate the magnetic angle value in digital signal format to obtain the rotation angle value.

[0069] It should be noted that Gaussian process regression is a probability-based non-parametric regression method, which is suitable for dealing with complex non-linear relationships. In the embodiments of the present invention, Gaussian process regression is used to accurately calculate the rotation angle value from the magnetic angle value in digital signal format output by the magnetic sensitive element. The Gaussian regression process is divided into a training stage and an operation stage. The training stage refers to constructing a training sample set before actual operation, and determining the reference angle and reference weight through the training sample set, and storing them in the non-volatile memory as a guide for the operation stage.

[0070] Optionally, before performing step S103, it further includes: collecting at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set; for at least one magnetic angle group in the training sample set, calculating the covariance matrix and solving the inverse matrix to obtain the inverse covariance matrix; using the known rotation angle as the reference angle, using the magnetic angle group corresponding to the reference angle as the reference magnetic angle group, and storing the reference angle, the reference magnetic angle group and the inverse covariance matrix in the non-volatile memory.

[0071] Specifically, before performing step S103, it is necessary to collect at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set. The training sample set includes the known rotation angle (reference angle) and the corresponding magnetic angle group (reference magnetic angle group).

[0072] For each magnetic angle group in the training sample set, calculate the covariance matrix. The covariance matrix describes the similarity between magnetic angle groups, and its element K ij represents the covariance between the i-th magnetic angle group and the j-th magnetic angle group. When solving the inverse covariance matrix, the inverse matrix of the covariance matrix can be calculated by numerical methods (such as Cholesky decomposition). The inverse covariance matrix is used to quickly calculate the weight vector during the operation phase. Finally, the known rotation angle (reference angle), reference magnetic angle group, and inverse covariance matrix are stored in the non-volatile memory for reference during the operation phase.

[0073] Further, step S103 includes: extracting the reference angle in the non-volatile memory, as well as the reference magnetic angle group and inverse covariance matrix corresponding to the reference angle; calculating the covariance vector based on the reference magnetic angle group and the magnetic angle value in digital signal format, and calculating the weight vector based on the covariance vector and the inverse covariance matrix; performing a multiplication operation on the weight vector and the reference angle to obtain the rotation angle value.

[0074] Specifically, during the operation phase, the reference angle, reference magnetic angle group, and inverse covariance matrix in the non-volatile memory can be extracted; the covariance vector is calculated based on the reference magnetic angle group and the magnetic angle value in digital signal format; the weight vector is calculated based on the covariance vector and the inverse covariance matrix; and a multiplication operation is performed on the weight vector and the reference angle to obtain the rotation angle value.

[0075] Through the Gaussian process regression calculation method in step S103, the embodiments of the present invention achieve high-precision calculation of the magnetic angle value in digital signal format, and solve the technical problems of large measurement rotation angle error and insufficient precision of traditional torque wrenches in high-speed rotation scenarios. At the same time, the embodiments of the present invention also achieve additional beneficial effects such as high-precision calculation, adaptation to complex non-linear relationships, and data storage and traceability, and are applicable to high-precision industrial assembly scenarios, significantly improving the reliability and assembly precision of bolt connections.

[0076] Figure 4 is a schematic diagram of an optional training phase and operation phase of Gaussian process regression according to an embodiment of the present invention, as Figure 4 shown, mainly including elements such as a magnetic source, a circular array, a reference encoder, a covariance matrix, an inverse covariance matrix, and a weight vector. Next, the training phase and operation phase will be detailed in combination with each element.

[0077] Specifically, the training phase mainly includes four steps: signal reception and encoding, calculation of the covariance matrix, solution of the inverse covariance matrix, and storage of reference values. The magnetic source receives signals through the circular array, and these signals are encoded by the reference encoder. The reference encoder encodes the rotation angle information of the magnetic source into a reference angle R ref , and the signal propagation matrix from the magnetic source to the circular array is Rm is used to calculate the covariance matrix K 0 , and the element K of the covariance matrix mn represents the covariance between the m-th signal and the n-th signal, and its formula is:

[0078]

[0079] where l is the length scale parameter used to control the smoothness of the data. Then, the inverse matrix K of the covariance matrix is calculated by numerical methods (such as Cholesky decomposition) 0 -1 , and the inverse covariance matrix is obtained. The reference angle (R ref ), reference matrix (R m ), and inverse covariance matrix (K 0 -1 ) calculated during the training phase are stored in the memory module (non-volatile memory) for reference during the operation phase.

[0080] In addition, the operation phase includes four major steps: acquisition of measurement values, calculation of covariance vectors, calculation of weight vectors, and calculation of final outputs. During the operation phase, new measurement values R (i.e., the magnetic angle values obtained by collecting through the magnetic sensitive component) are acquired, and covariance vectors are calculated based on the stored reference matrix (R m ) and the actually measured magnetic angle value matrix (R), with elements K m = cov(R, R m ). The covariance vector K and the inverse covariance matrix K 0 -1 are used to calculate the weight vector W = K T K 0 -1 . Finally, the weight vector W is multiplied by the reference angle R ref output by the reference encoder to obtain the final rotation angle value.

[0081] Through the training phase and operation phase of Gaussian process regression, the embodiments of the present invention achieve high-precision measurement of the rotation angle, and solve the technical problems of large measurement errors and insufficient precision of traditional torque wrenches in high-speed rotation scenarios. At the same time, the embodiments of the present invention also achieve additional beneficial effects such as high-precision calculation, adaptation to complex non-linear relationships, and data storage and traceability, are applicable to high-precision industrial assembly scenarios, and significantly improve the reliability and assembly precision of bolt connections.

[0082] Step S104, perform installation error compensation on the rotation angle value through three-position method calibration to obtain the rotation angle measurement result of the target bolt connection.

[0083] Optionally, step S104 includes: randomly selecting a test bolt and randomly determining three calibration measurement positions, where the three calibration measurement positions need to meet the following conditions: being evenly distributed on the same circumference, forming a set of symmetric relationships of equilateral triangles; using a new type of torque wrench to perform non-contact measurement on the test bolt at each calibration measurement position, and collecting three sets of test magnetic angle values, where each calibration measurement position corresponds to a set of test magnetic angle values; calculating an installation error angle value based on the calibration measurement positions and the test magnetic angle values, where the installation error angle value is used to characterize the installation error of the magnetic sensitive element on the new type of torque wrench; using the installation error angle value to perform compensation calculation on the rotation angle value to obtain the rotation angle measurement result of the target bolt connection.

[0084] Calibration through the three-position method and compensation of the installation error angle are the key links to ensure that the high-precision torque wrench achieves the expected accuracy in rotation angle measurement. The specific implementation process is as follows:

[0085] ① Randomly select a test bolt: Select a bolt for calibration as a test sample. This bolt should have similar physical properties to the target bolt to ensure the accuracy of the calibration result;

[0086] ② Determine three calibration measurement positions: Evenly distribute three calibration measurement positions on the circumference of the test bolt to form a set of symmetric relationships of equilateral triangles. This layout can cover all angles of 360°, so as to effectively evaluate the installation error in multiple directions;

[0087] ③ Non-contact magnetic angle measurement: Use the high-precision circular magnetic sensor array of the new type of torque wrench to perform non-contact measurement on the test bolt at each calibration measurement position. The collected magnetic angle values are A1, A2, and A3 respectively, and each group of magnetic angle values corresponds to a calibration measurement position;

[0088] ④ Calculate the installation error angle value: Based on the collected magnetic angle values (A1, A2, A3) and the known calibration measurement positions, the installation error angle value can be calculated through a mathematical model. This process may involve comparing the magnetic angle measurement values with the theoretical values, and determining the installation error through the least squares method or other optimization algorithms to characterize the installation error of the magnetic sensitive element on the new type of torque wrench;

[0089] ⑤ Compensation calculation of the rotation angle: In actual measurement, by using the installation error angle value calculated above, perform compensation calculation on the collected rotation angle value to eliminate the measurement deviation caused by the installation error. The compensated rotation angle value is closer to the true value, improving the measurement accuracy.

[0090] Through three-position calibration and installation error angle compensation, the embodiments of the present invention solve the problem in the related art that traditional torque wrenches are limited by mechanical coupling and inertial measurement, resulting in large rotation angle measurement errors in high-speed scenarios. In the embodiments of the present invention, the new torque wrench not only solves the measurement accuracy problem of traditional devices at high speeds, but also simplifies the measurement process, reduces maintenance costs, and optimizes data management, providing a more accurate, reliable, and convenient solution for industrial assembly.

[0091] Further, after obtaining the rotation angle measurement result of the target bolt connection, it further includes: transmitting the process data list generated during the rotation angle measurement of the target bolt connection and the rotation angle measurement result to a cloud platform for data management.

[0092] It should be noted that after completing the rotation angle measurement of the target bolt connection and compensating for the installation error, the data list during the measurement process and the final rotation angle measurement result are sent to the cloud platform through a wireless transmission module for data management and analysis, which is used to realize remote monitoring of the device status, persistent storage of data, and subsequent data analysis.

[0093] During the measurement process of the new torque wrench, the sensing detection data acquisition module will collect process data including but not limited to the original magnetic angle value of the magnetic sensitive element, the calculation result of the core processing module, the rotation angle values before and after compensation, etc., which can reflect the complete information of the measurement process; the accurate rotation angle measurement result of the target bolt connection obtained after completing the installation error angle compensation will also be recorded, which is the core output of the torque wrench when performing the measurement task and is used to ensure the accuracy and reliability of the assembly process; the wireless transmission module (for example, using a 4G module) encrypts the above process data list and rotation angle measurement result and sends them to the cloud platform through a secure wireless channel. As the center of data management, the cloud platform can store, process, and analyze these data, providing functions such as real-time monitoring of data, querying of historical records, and anomaly detection.

[0094] By transmitting the data during the measurement process of the torque wrench to the cloud platform, not only the problem of insufficient rotation angle measurement accuracy of traditional torque wrenches limited by mechanical coupling and inertial measurement in high-speed scenarios is solved, but also the beneficial effects of real-time monitoring and historical tracking of data are additionally achieved. The cloud platform can monitor the working status of the torque wrench in real time, collect detailed data of each measurement, including possible deviations and compensation situations during the process, which helps to quickly diagnose and solve on-site problems. At the same time, the storage of historical data is convenient for subsequent analysis and tracking, ensuring the traceability of data.

[0095] Through the above steps S101 to S104, non-contact measurement of the target bolt connection can be first performed through a circular magnetic sensor array. The circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the magnetic field change and output a magnetic angle value. Then, the magnetic angle values output by the magnetic sensitive element are collected and analog-to-digital conversion is performed on all the magnetic angle values to obtain magnetic angle values in digital signal format. Then, the Gaussian process regression calculation method is used to calculate the magnetic angle values in digital signal format to obtain the rotation angle value. Finally, installation error compensation is performed on the rotation angle value through three-position method calibration to obtain the rotation angle measurement result of the target bolt connection.

[0096] In the embodiment of the present invention, a non-contact measurement method is adopted, and through the means of a high-precision circular magnetic sensor array and the Gaussian process regression calculation method, the purpose of accurately measuring the rotation angle of the bolt is achieved. Specifically, a circular magnetic sensor array is formed by a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnetic sensitive element senses the magnetic field change generated by the magnet and outputs a magnetic angle value, which is converted into digital signal format through analog-to-digital conversion. Subsequently, the Gaussian process regression calculation method is used to process the digital signal to calculate the rotation angle value. Finally, installation error compensation of the new sensor on the new torque wrench is performed through three-position method calibration to obtain a more accurate rotation angle measurement result. The above means can not only avoid the mechanical wear and friction problems brought by traditional mechanical coupling measurement, but also overcome the defect that the inertial measurement has a large error in high-speed scenarios, thus achieving the technical effect of non-contact and high-precision rotation angle measurement, and is especially suitable for high-speed and high-precision industrial assembly scenarios, which can significantly improve the reliability and assembly accuracy of bolt connections, and further solve the technical problem that in the related art, the traditional torque wrench is limited by mechanical coupling and inertial measurement, and has a large error in measuring the rotation angle in high-speed scenarios and insufficient measurement accuracy.

[0097] The following describes the present invention in conjunction with another optional embodiment.

[0098] Embodiment 2

[0099] A new torque wrench provided in this embodiment includes multiple implementation components for implementing the implementation steps in Embodiment 1 above.

[0100] Figure 5 It is a schematic diagram of the structural components of an optional new torque wrench according to an embodiment of the present invention. As Figure 5 shown, the new torque wrench may include: a sensing data acquisition module 501 and a core processing module 502.

[0101] Among them, the sensing data acquisition module 501 is used to perform non-contact measurement on the target bolt connection through a circular magnetic sensor array and collect magnetic angle values. The circular magnetic sensor array includes a magnet located on the bolt and N magnetic sensitive elements located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive elements are used to sense the magnetic field change and output magnetic angle values, where N is a specified value;

[0102] Specifically, the magnet is installed at the top of the bolt and rotates as the bolt rotates, generating a changing magnetic field. The rotation angle of the magnet is consistent with the rotation angle of the bolt. Therefore, by measuring the rotation angle of the magnet, the rotation angle of the bolt can be indirectly measured. The magnetic sensitive elements (such as Hall sensors) are evenly distributed on the circular printed circuit board of the new torque wrench (as shown in Figure 2 ), and are used to sense the magnetic field change caused by the rotation of the magnet. Each magnetic sensitive element outputs a magnetic angle value, reflecting the magnetic field strength of the magnet at different positions.

[0103] It should be noted that in high-speed rotation scenarios (such as industrial scenarios with a rotation speed of up to 3000 revolutions per minute), traditional torque wrenches are limited by mechanical coupling and inertial measurement, with large errors in measuring the rotation angle and insufficient accuracy. In the embodiments of the present invention, there is no physical contact between the magnetic sensitive elements and the magnet, and the measurement is only carried out through the magnetic field change. This non-contact measurement method avoids the problems of friction and wear in traditional mechanical coupling measurement, and at the same time overcomes the defect of large errors in inertial measurement at high speeds, improving the stability and accuracy of the measurement, ensuring high-precision rotation angle measurement, with an error less than 0.1°.

[0104] In addition, non-contact measurement avoids the problems of friction and wear in traditional mechanical coupling measurement, extends the service life of the equipment, and the magnetic field induction method is not sensitive to environmental factors such as oil stains and dust, and is also applicable to harsh industrial environments.

[0105] During the process of collecting magnetic angle values, since there are multiple magnetic sensitive elements (such as 8) in the circular magnetic sensor array, it is necessary to collect the magnetic angle values output by multiple magnetic sensitive elements simultaneously. A multi-channel analog-to-digital converter can be used to collect the output signals of multiple magnetic sensitive elements simultaneously, or the time-division multiplexing method can be used to collect the output signals of each magnetic sensitive element sequentially using a single-channel ADC.

[0106] The core processing module 502 is used to perform analog-to-digital conversion on all magnetic angle values to obtain magnetic angle values in digital signal format, and use the Gaussian process regression calculation method and three-position method calibration to calculate the rotation angle value and compensate for the installation error of the magnetic angle values in digital signal format, obtaining the rotation angle measurement result of the target bolt connection.

[0107] It should be noted that analog-to-digital conversion is the process of converting an analog signal into a digital signal. In the embodiments of the present invention, the analog signal output by the magnetic sensitive element is converted into a digital signal through an analog-to-digital converter (ADC). The analog-to-digital converter samples and quantifies the analog signal to generate a magnetic angle value in a discrete digital signal format, which is convenient for the core processing module to perform complex mathematical operations (such as Gaussian process regression calculation) to ensure the accuracy of the rotation angle calculation. Moreover, the digital signal can be conveniently stored in a non-volatile memory and uploaded to the cloud platform through a wireless transmission module to achieve real-time monitoring and traceability of data.

[0108] Before analog-to-digital conversion, the analog signal needs to pass through a signal conditioning circuit (such as amplification, filtering, etc.) to improve the quality and stability of the signal. For example, the common-mode noise is eliminated through a differential amplifier circuit, and the high-frequency noise is removed through a low-pass filter.

[0109] Optionally, the step of performing analog-to-digital conversion on all magnetic angle values to obtain magnetic angle values in digital signal format includes: performing signal conditioning on the magnetic angle values in analog signal format output by the magnetic sensitive element to obtain an analog signal with enhanced quality, where the signal conditioning at least includes: signal amplification and signal filtering; inputting the analog signal with enhanced quality into the analog-to-digital converter to output magnetic angle values in digital signal format, where the analog-to-digital converter is used to sample the continuous analog signal and quantize it into a discrete digital signal.

[0110] It should be noted that the analog signal output by the magnetic sensitive element (such as a Hall sensor) is usually weak and may be affected by noise interference (such as electromagnetic interference, temperature change, etc.). The purpose of signal conditioning is to improve the quality and stability of the signal and ensure the accuracy of subsequent analog-to-digital conversion.

[0111] Among them, signal amplification refers to amplifying the weak analog signal to a range suitable for the input of the analog-to-digital converter (ADC) through an operational amplifier (Op-Amp). The amplification factor is adjusted according to the signal strength and the input range of the ADC to ensure that the signal will not be distorted during analog-to-digital conversion.

[0112] Signal filtering refers to removing high-frequency noise through a low-pass filter to ensure the purity of the signal. The cut-off frequency of the low-pass filter is set according to the frequency characteristics of the signal, and usually a cut-off frequency slightly higher than the signal frequency is selected to retain the effective components of the signal.

[0113] Another thing to note is that Gaussian process regression is a probability-based non-parametric regression method suitable for dealing with complex non-linear relationships. In the embodiments of the present invention, Gaussian process regression is used to accurately calculate the rotation angle value from the magnetic angle values in the digital signal format output by the magnetic sensitive element. The Gaussian regression process is divided into a training stage and an operation stage. The training stage refers to constructing a training sample set before actual operation, and determining the reference angle and reference weight through the training sample set, and storing them in the non-volatile memory as a guide for the operation stage.

[0114] The training stage includes: collecting at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set; for at least one magnetic angle group in the training sample set, calculating the covariance matrix and solving the inverse matrix to obtain the inverse covariance matrix; taking the known rotation angle as the reference angle, taking the magnetic angle group corresponding to the reference angle as the reference magnetic angle group, and storing the reference angle, the reference magnetic angle group, and the inverse covariance matrix in the non-volatile memory.

[0115] The operation stage includes: extracting the reference angle in the non-volatile memory, as well as the reference magnetic angle group and the inverse covariance matrix corresponding to the reference angle; calculating the covariance vector based on the reference magnetic angle group and the magnetic angle value in the digital signal format, and calculating the weight vector based on the covariance vector and the inverse covariance matrix; performing a multiplication operation on the weight vector and the reference angle to obtain the rotation angle value.

[0116] Furthermore, the installation error compensation includes: randomly selecting a test bolt and randomly determining 3 calibration measurement positions, where the 3 calibration measurement positions need to meet: being evenly distributed on the same circumference, forming a set symmetric relationship of an equilateral triangle; using a new type of torque wrench to perform non-contact measurement on the test bolt at each calibration measurement position, and collecting 3 groups of test magnetic angle values, where each calibration measurement position corresponds to a group of test magnetic angle values; calculating the installation error angle value based on the calibration measurement position and the test magnetic angle values, where the installation error angle value is used to characterize the installation error of the magnetic sensitive element on the new type of torque wrench; using the installation error angle value to perform compensation calculation on the rotation angle value to obtain the rotation angle measurement result of the target bolt connection.

[0117] The above-mentioned bolt rotation angle measuring device based on a new type of torque wrench can first perform non-contact measurement on the target bolt connection through the sensing data acquisition module 501 and the circular magnetic sensor array, and collect magnetic angle values. The circular magnetic sensor array includes a magnet located on the bolt and N magnetic sensitive elements located on the new type of torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive elements are used to sense the change in the magnetic field and output magnetic angle values. N is a specified value. Then, the core processing module 502 performs analog-to-digital conversion on all magnetic angle values to obtain magnetic angle values in digital signal format, and uses the Gaussian process regression calculation method and three-position method calibration to calculate the rotation angle value and compensate for the installation error of the magnetic angle values in digital signal format, so as to obtain the rotation angle measurement result of the target bolt connection.

[0118] In the embodiment of the present invention, a non-contact measurement method is adopted, and through the means of a high-precision circular magnetic sensor array and the Gaussian process regression calculation method, the purpose of accurately measuring the bolt rotation angle is achieved. Specifically, a circular magnetic sensor array is formed by a magnet located on the bolt and magnetic sensitive elements located on the new type of torque wrench. The magnetic sensitive elements sense the change in the magnetic field generated by the magnet and output magnetic angle values, which are converted into digital signal format through analog-to-digital conversion. Subsequently, the Gaussian process regression calculation method is used to process the digital signal to calculate the rotation angle value. Finally, the installation error of the new sensor on the new type of torque wrench is compensated through three-position method calibration to obtain a more accurate rotation angle measurement result. The above means can not only avoid the mechanical wear and friction problems brought by traditional mechanical coupling measurement, but also overcome the defect that the inertial measurement has a large error in high-speed scenarios, so as to achieve the technical effect of non-contact and high-precision rotation angle measurement. It is especially suitable for high-speed and high-precision industrial assembly scenarios, can significantly improve the reliability and assembly accuracy of bolt connections, and thus solves the technical problem that in the related art, the traditional torque wrench is limited by mechanical coupling and inertial measurement, and has a large error in measuring the rotation angle in high-speed scenarios and insufficient measurement accuracy.

[0119] Optionally, the new type of torque wrench further includes: a wireless transmission module, which is used to transmit the calculation process of the core processing module and the calculated rotation angle measurement result to the cloud platform. After completing the rotation angle measurement of the target bolt connection and compensating for the installation error, the data list during the measurement process and the final rotation angle measurement result are sent to the cloud platform through the wireless transmission module for data management and analysis, so as to realize remote monitoring of the device status, persistent storage of data, and subsequent data analysis.

[0120] During the measurement process of the new torque wrench, the sensing and detection data acquisition module will collect process data including but not limited to the original magnetic angle value of the magnetic sensitive element, the calculation result of the core processing module, the rotation angle value before and after compensation, etc., which can reflect the complete information of the measurement process; the accurate rotation angle measurement result of the target bolt connection obtained after completing the installation error angle compensation will also be recorded, which is the core output of the torque wrench to perform the measurement task and is used to ensure the accuracy and reliability of the assembly process; the wireless transmission module (for example, using a 4G module) encrypts the above process data list and the rotation angle measurement result and sends them to the cloud platform through a secure wireless channel. As the center of data management, the cloud platform can store, process, and analyze these data, and provide functions such as real-time monitoring of data, query of historical records, and anomaly detection.

[0121] By transmitting the data in the torque wrench measurement process to the cloud platform, it not only solves the problem of insufficient rotation angle measurement accuracy of traditional torque wrenches limited by mechanical coupling and inertial measurement in high-speed scenarios, but also additionally achieves the beneficial effects of real-time monitoring and historical tracking of data. The cloud platform can monitor the working status of the torque wrench in real time, collect detailed data of each measurement, including possible deviations and compensation situations during the process, which helps to quickly diagnose and solve on-site problems. At the same time, the storage of historical data is convenient for subsequent analysis and tracking, ensuring the traceability of data.

[0122] Optionally, the new torque wrench further includes: a torque sensor, a controller module, an LED indicator, and a buzzer. Among them, the torque sensor is used to sense and output the wrench torque value during the operation of the new torque wrench applying torque to the target bolt; the controller module is used to collect the rotation angle measurement result and the wrench torque value; the controller module is also used to control the LED to flash a first color light and control the buzzer to alarm and prompt that the operation is qualified when it is determined that the wrench torque value is within the target torque range and the rotation angle measurement result is less than or equal to the safe angle; or, when it is determined that the wrench torque value exceeds the target torque range or the rotation angle measurement result is greater than the safe angle, control the LED to flash a second color light and control the buzzer to alarm and prompt that the operation is unqualified.

[0123] In the embodiments of the present invention, the new torque wrench integrates a torque sensor, a controller module, an LED indicator, and a buzzer, realizing dual monitoring of torque and rotation angle during operation, ensuring the accuracy and safety of the operation. The torque sensor monitors the applied torque in real time, while the controller module is responsible for collecting and processing the rotation angle measurement results and torque values, and can immediately judge whether the torque is within the preset target range and whether the rotation angle exceeds the safety threshold, enabling the torque wrench to have the ability of intelligent judgment: when the operation is qualified, the LED indicator flashes a first color light (such as green) and the buzzer emits a specific sound to give the operator intuitive visual and auditory feedback, enhancing the intuitiveness and efficiency of the operation; conversely, when the torque exceeds the range or the rotation angle is too large, the LED indicator will flash a second color light (such as red), and the buzzer gives a warning, clearly indicating that the operation is unqualified, preventing connection failure or equipment damage caused by improper torque or rotation angle, and effectively improving the assembly quality and production safety.

[0124] The following describes the present invention in conjunction with another optional embodiment.

[0125] Embodiment III

[0126] A bolt rotation angle measuring device based on the new torque wrench provided in this embodiment includes multiple implementation units, and each implementation unit corresponds to each implementation step in Embodiment I above.

[0127] Figure 6 It is a schematic diagram of an optional bolt rotation angle measuring device based on the new torque wrench according to the embodiments of the present invention. As Figure 6 shown, the device may include: a measuring unit 601, a collecting unit 602, a calculating unit 603, and an error compensation unit 604.

[0128] Among them, the measuring unit 601 is used for non-contact measurement of the target bolt connection through a circular magnetic sensor array. The circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the change of the magnetic field and output a magnetic angle value.

[0129] The collecting unit 602 is used for collecting the magnetic angle values output by the magnetic sensitive elements and performing analog-to-digital conversion on all magnetic angle values to obtain magnetic angle values in digital signal format.

[0130] The calculating unit 603 is used for calculating the magnetic angle values in digital signal format using the Gaussian process regression calculation method to obtain the rotation angle values.

[0131] The error compensation unit 604 is used to calibrate the rotation angle value through the three-position method to compensate for the installation error and obtain the measurement result of the rotation angle of the target bolt connection.

[0132] For the above bolt rotation angle measurement device based on the new torque wrench, non-contact measurement can be first performed on the target bolt connection through the measurement unit 601 and the circular magnetic sensor array. The circular magnetic sensor array consists of a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the magnetic field change and output a magnetic angle value. Then, the acquisition unit 602 acquires the magnetic angle value output by the magnetic sensitive element and performs analog-to-digital conversion on all magnetic angle values to obtain the magnetic angle value in digital signal format. Then, the calculation unit 603 uses the Gaussian process regression calculation method to calculate the magnetic angle value in digital signal format to obtain the rotation angle value. Finally, the error compensation unit 604 and the three-position method calibration are used to compensate for the installation error of the rotation angle value to obtain the measurement result of the rotation angle of the target bolt connection.

[0133] In the embodiment of the present invention, a non-contact measurement method is adopted, and through the means of a high-precision circular magnetic sensor array and the Gaussian process regression calculation method, the purpose of accurately measuring the bolt rotation angle is achieved. Specifically, a circular magnetic sensor array is formed by a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnetic sensitive element senses the magnetic field change generated by the magnet and outputs a magnetic angle value, which is converted into digital signal format through analog-to-digital conversion. Subsequently, the Gaussian process regression calculation method is used to process the digital signal to calculate the rotation angle value. Finally, the installation error of the new sensor on the new torque wrench is compensated through the three-position method calibration to obtain a more accurate rotation angle measurement result. The above means can not only avoid the mechanical wear and friction problems brought by traditional mechanical coupling measurement, but also overcome the defect of large errors of inertial measurement in high-speed scenarios, thus achieving the technical effect of non-contact and high-precision rotation angle measurement, especially suitable for high-speed and high-precision industrial assembly scenarios, which can significantly improve the reliability and assembly accuracy of bolt connections, and further solve the technical problem that in the related art, the traditional torque wrench is limited by mechanical coupling and inertial measurement, resulting in large errors in measuring the rotation angle and insufficient measurement accuracy in high-speed scenarios.

[0134] Optionally, the error compensation unit 504 includes: a determination module for randomly selecting a test bolt and randomly determining three calibration measurement positions, where the three calibration measurement positions need to satisfy: being evenly distributed on the same circumference and forming a set symmetry relationship of an equilateral triangle; a measurement module for non-contact measurement of the test bolt at each calibration measurement position using a new type of torque wrench and collecting three groups of test magnetic angle values, where each calibration measurement position corresponds to a group of test magnetic angle values; a first calculation module for calculating an installation error angle value based on the calibration measurement position and the test magnetic angle values, where the installation error angle value is used to characterize the installation error of the magnetic sensitive element on the new type of torque wrench; a second calculation module for performing compensation calculation on the rotation angle value using the installation error angle value to obtain the rotation angle measurement result of the target bolt connection.

[0135] Optionally, the bolt rotation angle measuring device based on the new type of torque wrench further includes: a collection module for collecting at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set before calculating the rotation angle value by using the Gaussian process regression calculation method for the magnetic angle value in digital signal format; a third calculation module for calculating the covariance matrix and solving the inverse matrix for at least one magnetic angle group in the training sample set to obtain the inverse covariance matrix; a storage module for storing the known rotation angle as a reference angle, the magnetic angle group corresponding to the reference angle as a reference magnetic angle group, and the reference angle, the reference magnetic angle group, and the inverse covariance matrix in a non-volatile memory.

[0136] Optionally, the calculation unit 503 includes: an extraction module for extracting the reference angle in the non-volatile memory, as well as the reference magnetic angle group and the inverse covariance matrix corresponding to the reference angle; a fourth calculation module for calculating the covariance vector based on the reference magnetic angle group and the magnetic angle value in digital signal format, and calculating the weight vector based on the covariance vector and the inverse covariance matrix; a fifth calculation module for performing a multiplication operation on the weight vector and the reference angle to obtain the rotation angle value.

[0137] Optionally, the collection unit 502 includes: a signal conditioning module for conditioning the magnetic angle value in analog signal format output by the magnetic sensitive element to obtain an analog signal with enhanced quality, where the signal conditioning at least includes: signal amplification and signal filtering; an input module for inputting the analog signal with enhanced quality into an analog-to-digital converter to output the magnetic angle value in digital signal format, where the analog-to-digital converter is used to sample the continuous analog signal and quantize it into a discrete digital signal.

[0138] Optionally, the bolt rotation angle measuring device based on the new torque wrench further includes: a transmission module, configured to transmit a process data list and a rotation angle measurement result generated during the rotation angle measurement of the target bolt connection to a cloud platform for data management after obtaining the rotation angle measurement result of the target bolt connection.

[0139] The above-mentioned bolt rotation angle measuring device based on the new torque wrench may further include a processor and a memory. The above-mentioned measuring unit 501, acquisition unit 502, calculation unit 503, error compensation unit 504, etc. are all stored in the memory as program units, and the processor executes the above program units stored in the memory to implement corresponding functions.

[0140] The above-mentioned processor includes a kernel, which retrieves the corresponding program units from the memory. One or more kernels can be set. By adjusting the kernel parameters, the Gaussian process regression calculation method is used to calculate the magnetic angle value in digital signal format to obtain the rotation angle value, and the installation error compensation is performed on the rotation angle value through the three-position method calibration to obtain the rotation angle measurement result of the target bolt connection.

[0141] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM (flash RAM). The memory includes at least one storage chip.

[0142] The present application also provides a computer program product, which is suitable for executing a program initialized with the following method steps when executed on a data processing device: performing non-contact measurement on a target bolt connection through a circular magnetic sensor array, where the circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the new torque wrench. The magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the magnetic field change and output a magnetic angle value; collecting the magnetic angle values output by the magnetic sensitive element and performing analog-to-digital conversion on all magnetic angle values to obtain the magnetic angle value in digital signal format; using the Gaussian process regression calculation method to calculate the magnetic angle value in digital signal format to obtain the rotation angle value; performing installation error compensation on the rotation angle value through the three-position method calibration to obtain the rotation angle measurement result of the target bolt connection.

[0143] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program. When the computer program runs, it controls the device where the computer-readable storage medium is located to execute the bolt rotation angle measurement method based on the new torque wrench according to any one of the above-mentioned Embodiment 1.

[0144] According to another aspect of the embodiments of the present invention, an electronic device is further provided, which includes one or more processors and a memory. The memory is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the bolt rotation angle measurement method based on the novel torque wrench according to any one of the above-mentioned Embodiment 1.

[0145] Figure 7 FIG. is a structural block diagram of an electronic device for executing the bolt rotation angle measurement method based on the novel torque wrench according to an embodiment of the present invention. As Figure 7 shown, the electronic device may include: one or more ( Figure 7 only one is shown in the figure) processors 702, a memory 704, a storage controller, and a peripheral interface. The peripheral interface is connected to a radio frequency module, an audio module, and a display.

[0146] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the bolt rotation angle measurement method and device based on the novel torque wrench in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, implements the above-mentioned bolt rotation angle measurement method based on the novel torque wrench. The memory may include a high-speed random access memory, and may further include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely disposed relative to the processor, and these remote memories can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0147] Those of ordinary skill in the art can understand that Figure 7 the structure shown in FIG. is only schematic. The electronic device may also be a terminal device such as a smart phone, a tablet computer, a handheld computer, and a mobile Internet device (MID), a PAD, etc. Figure 7 It does not limit the structure of the above-mentioned electronic device. For example, the electronic device may further include more or fewer components (such as a network interface, a display device, etc.) than those shown in Figure 7 the figure, or have a different configuration from that shown in Figure 7 the figure.

[0148] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the relevant hardware of the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, etc.

[0149] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0150] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0151] In the several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0152] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0154] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0155] The foregoing are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A method for measuring bolt rotation angle based on a new torque wrench, characterized in that: The novel torque wrench is provided with N uniformly distributed magnetic sensitive elements, where N is a specified value. The rotation angle measurement method includes: The target bolt connection is measured non-contactly by a circular magnetic sensor array, wherein the circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the novel torque wrench, the magnet is used to generate a magnetic field, and the magnetic sensitive element is used to sense the change of the magnetic field and output a magnetic angle value; Collecting the magnetic angle values ​​output by the magnetic sensitive element, and performing analog-to-digital conversion on all the magnetic angle values ​​to obtain magnetic angle values ​​in digital signal format; The magnetic angle value in the digital signal format is calculated using a Gaussian process regression method to obtain a rotation angle value; The rotation angle value is calibrated by three-position method to perform installation error compensation to obtain the rotation angle measurement result of the target bolt connection.

2. The method for measuring bolt rotation angle based on a novel torque wrench according to claim 1 is characterized in that: The step of performing installation error compensation on the rotation angle value by three-position calibration to obtain the rotation angle measurement result of the target bolt connection comprises: Randomly select a test bolt and randomly determine three calibration measurement positions, wherein the three calibration measurement positions must satisfy the following requirements: they are evenly distributed on the same circumference to form a collective symmetry relationship of an equilateral triangle; Using the novel torque wrench to perform non-contact measurement on the test bolt at each of the calibrated measurement positions, and collecting three groups of test magnetic angle values, wherein each of the calibrated measurement positions corresponds to a group of test magnetic angle values; An installation error angle value is calculated based on the calibration measurement position and the test magnetic angle value, wherein the installation error angle value is used to characterize the installation error of the magnetic sensitive element on the novel torque wrench; The rotation angle value is compensated and calculated using the installation error angle value to obtain a rotation angle measurement result of the target bolt connection.

3. The bolt rotation angle measurement method based on the novel torque wrench according to claim 1 is characterized in that: Before using the Gaussian process regression calculation method to calculate the magnetic angle value in the digital signal format to obtain the rotation angle value, the method further includes: Collect at least one magnetic angle group corresponding to at least one known rotation angle on the target bolt connection to form a training sample set; For the at least one magnetic angle group in the training sample set, calculating a covariance matrix and solving an inverse matrix to obtain an inverse covariance matrix; The known rotation angle is used as a reference angle, the magnetic angle group corresponding to the reference angle is used as a reference magnetic angle group, and the reference angle, the reference magnetic angle group and the inverse covariance matrix are stored in a non-volatile memory.

4. The method for measuring bolt rotation angle based on a novel torque wrench according to claim 3 is characterized in that: The step of calculating the magnetic angle value in the digital signal format by using a Gaussian process regression calculation method to obtain a rotation angle value comprises: Extracting the reference angle in the non-volatile memory, and the reference magnetic angle group and the inverse covariance matrix corresponding to the reference angle; Calculating a covariance vector based on the reference magnetic angle group and the magnetic angle value in the digital signal format, and calculating a weight vector based on the covariance vector and the inverse covariance matrix; The weight vector is multiplied by the reference angle to obtain the rotation angle value.

5. The method for measuring bolt rotation angle based on a novel torque wrench according to claim 1 is characterized in that: The step of performing analog-to-digital conversion on all the magnetic angle values ​​to obtain magnetic angle values ​​in digital signal format comprises: Performing signal conditioning on the magnetic angle value in the analog signal format output by the magnetic sensitive element to obtain a quality-enhanced analog signal, wherein the signal conditioning at least includes: signal amplification and signal filtering; The analog signal with enhanced quality is input to an analog-to-digital converter, and the magnetic angle value in a digital signal format is output, wherein the analog-to-digital converter is used to sample the continuous analog signal and quantize it into a discrete digital signal.

6. The method for measuring the bolt rotation angle based on a novel torque wrench according to any one of claims 1 to 5, It is characterized in that After obtaining the rotation angle measurement result of the target bolt connection, the method further includes: A process data list generated during the rotation angle measurement of the target bolt connection and the rotation angle measurement result are transmitted to a cloud platform for data management.

7. A new torque wrench, characterized in that: A method for measuring a bolt rotation angle based on a novel torque wrench according to any one of claims 1 to 6, the novel torque wrench comprising: A sensing data acquisition module, used for performing non-contact measurement of a target bolt connection and acquiring a magnetic angle value through a circular magnetic sensor array, wherein the circular magnetic sensor array includes a magnet located on the bolt and N magnetic sensitive elements located on the novel torque wrench, the magnet is used for generating a magnetic field, and the magnetic sensitive element is used for sensing a change in the magnetic field and outputting a magnetic angle value, where N is a specified value; The core processing module is used to perform analog-to-digital conversion on all the magnetic angle values ​​to obtain magnetic angle values ​​in digital signal format, and use Gaussian process regression calculation method and three-position method calibration to perform rotation angle value calculation and installation error compensation on the magnetic angle values ​​in digital signal format to obtain the rotation angle measurement result of the target bolt connection.

8. The new torque wrench according to claim 7 is characterized in that: Also includes: The wireless transmission module is used to transmit the calculation process of the core processing module and the rotation angle measurement result obtained by calculation to the cloud platform.

9. The new torque wrench according to claim 7 is characterized in that: Also includes: Torque sensor, controller module, LED indicator and buzzer, among which, The torque sensor is used to sense and output the torque value of the wrench during the operation of the novel torque wrench applying torque to the target bolt; The controller module is used to collect the rotation angle measurement result and the wrench torque value; The controller module is also used to control the LED light to flash a first color light, and control the buzzer to alarm and prompt that the operation is qualified when it is determined that the torque value of the wrench is within the target torque range and the rotation angle measurement result is less than or equal to the safety angle; or, When it is determined that the wrench torque value exceeds the target torque range, or the rotation angle measurement result is greater than the safety angle, the LED light is controlled to flash a second color light, and the buzzer is controlled to alarm to prompt that the operation is unqualified.

10. A bolt rotation angle measuring device based on a new torque wrench, characterized in that: The novel torque wrench is provided with N uniformly distributed magnetic sensitive elements, where N is a specified value, and the rotation angle measuring device comprises: A measuring unit, used for performing non-contact measurement of a target bolt connection through a circular magnetic sensor array, wherein the circular magnetic sensor array is composed of a magnet located on the bolt and a magnetic sensitive element located on the novel torque wrench, the magnet is used for generating a magnetic field, and the magnetic sensitive element is used for sensing a change in the magnetic field and outputting a magnetic angle value; A collection unit, used for collecting the magnetic angle values ​​output by the magnetic sensitive element, and performing analog-to-digital conversion on all the magnetic angle values ​​to obtain magnetic angle values ​​in digital signal format; A calculation unit, used to calculate the magnetic angle value in the digital signal format by using a Gaussian process regression calculation method to obtain a rotation angle value; The error compensation unit is used to perform installation error compensation on the rotation angle value through three-position calibration to obtain a rotation angle measurement result of the target bolt connection.

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