A displacement sensor calibration device, method, host computer and storage medium

Abstract

This application relates to the field of sensor calibration technology, and discloses a displacement sensor calibration device, method, host computer, and storage medium. The displacement sensor calibration device includes a host computer and an electric cylinder, the electric cylinder including a piston rod and a displacement sensor. The host computer is used to determine the target movement position of the piston rod for each movement, and controls the piston rod to move from the initial position to the target movement position each time. The host computer is also used to acquire the target reading of the displacement sensor and the measured movement distance of the piston rod after each movement of the piston rod to the target movement position, and obtain a calibration relationship table for the displacement sensor. The electric cylinder is used to store the calibration relationship table, and determines the actual movement distance of the piston rod each time it moves, based on the calibration relationship table and the actual reading of the displacement sensor. This application realizes automatic calibration of the displacement sensor, greatly reducing the calibration workload, reducing the error of the displacement sensor, and improving the measurement accuracy of the displacement sensor.

Description

Technical Field

[0001] This application relates to the field of sensor calibration technology, and in particular to a displacement sensor calibration device, method, host computer, and storage medium. Background Technology

[0002] In many applications, displacement sensors are used to measure the motion of targets. They can be used simply to reflect the magnitude of an object's displacement, or the measured displacement changes can be used for closed-loop position control. While specific processing can be applied to improve sensor accuracy based on the characteristics of each sensor, it's impossible to completely eliminate accuracy losses caused by external conditions. For example, non-ideal factors during manufacturing or installation can cause displacement sensor errors, which are difficult to completely eliminate even under optimal conditions. Summary of the Invention

[0003] In view of this, embodiments of this application provide a displacement sensor calibration device, method, host computer, and storage medium, which can effectively solve the error problem of displacement sensors.

[0004] In a first aspect, embodiments of this application provide a displacement sensor calibration device, comprising: a host computer and an electric cylinder, wherein the electric cylinder includes a piston rod and a displacement sensor, the displacement sensor is used to measure the linear displacement of the piston rod, the displacement sensor includes multiple target calibration points, and the host computer is used to communicate with the electric cylinder;

[0005] The host computer is used to determine the target movement position of the piston rod each time it moves. The target movement position is the position when the piston rod is moved to the position where the reading of the displacement sensor is the target calibration point.

[0006] The host computer is also used to control the piston rod to move from the initial position to the target moving position each time, wherein the initial position is the origin of the piston rod's movement;

[0007] The host computer is also used to obtain the target reading of the displacement sensor and the measured movement distance of the piston rod after each time the piston rod is moved to the target moving position, and to obtain the calibration relationship table of the displacement sensor; the calibration relationship table includes the target reading of the displacement sensor and the measured movement distance of the piston rod at each target moving position;

[0008] The electric cylinder is used to store the calibration relationship table. Each time the piston rod moves, the actual moving distance of the piston rod is determined according to the calibration relationship table and the actual reading of the displacement sensor.

[0009] In a first possible embodiment of the first aspect, it further includes: a displacement measuring instrument, wherein the host computer is communicatively connected to the displacement measuring instrument;

[0010] The displacement measuring instrument is used to measure the distance the piston rod moves after each movement to the target moving position.

[0011] In a second possible embodiment of the first aspect, the electric cylinder is further configured to determine, under the condition that the actual reading of the displacement sensor is not equal to the target reading in the calibration relationship table, two adjacent target readings in the calibration relationship table, and to determine the movement measurement distance corresponding to the two adjacent target readings;

[0012] The electric cylinder is also used to calculate the conversion coefficient of the actual reading of the displacement sensor based on the two adjacent target readings and the corresponding movement measurement distance, and to convert the actual reading of the displacement sensor into the actual movement distance of the piston rod according to the conversion coefficient;

[0013] The conversion coefficient is the actual displacement change corresponding to the unit displacement sensor reading within two adjacent target reading intervals in the calibration relationship table.

[0014] In a third possible embodiment of the first aspect, the electric cylinder is further configured to take the movement measurement distance corresponding to the target reading as the actual movement distance of the piston rod, provided that the actual reading of the displacement sensor is equal to the target reading in the calibration relationship table.

[0015] In a fourth possible embodiment of the first aspect, the host computer is further configured to determine the displacement increment of the piston rod for each movement based on the initial reading, the final reading of the displacement sensor and the number of the target calibration points, and to determine the target movement position of the piston rod for each movement based on the displacement increment of the piston rod for each movement.

[0016] The initial reading of the displacement sensor is the reading when the piston rod is at the origin of movement, and the final reading of the displacement sensor is the reading when the piston rod is at the end of movement.

[0017] In a fifth possible embodiment of the first aspect, the host computer is further configured to control the piston rod to remain at the target moving position for a preset time, determine whether the displacement fluctuation of the piston rod within the preset time is within a preset range, and, if it is determined that the displacement fluctuation of the piston rod within the preset time is within the preset range, send a shutdown command to the electric cylinder so as to obtain the target reading and the moving measurement distance after the electric cylinder is shut down.

[0018] In a sixth possible embodiment of the first aspect, the host computer is further configured to acquire multiple real-time readings of the displacement sensor within the preset time period, calculate the reading difference between two adjacent real-time readings among the multiple real-time readings, and determine whether the displacement fluctuation of the piston rod within the preset time period is within a preset range based on the comparison result of the reading difference and a preset difference range.

[0019] In a seventh possible embodiment of the first aspect, the formula for calculating the conversion coefficient is:

[0020]

[0021] Represents the conversion coefficient, The actual reading is a target reading adjacent to the one in the calibration relationship table. The distance to be moved corresponds to an adjacent target reading in the calibration relationship table. The actual reading is the other target reading adjacent to it in the calibration table. The moving measurement distance corresponding to the adjacent target reading in the calibration relationship table;

[0022] The formula for calculating the actual moving distance of the piston rod is:

[0023]

[0024] in, This represents the actual distance the piston rod travels. This is the actual reading of the displacement sensor. The target reading of the displacement sensor is given when the piston rod is in the first target moving position. The measured distance the piston rod moves when it is in the first target moving position.

[0025] In an eighth possible embodiment of the first aspect, the host computer is further configured to divide the total reading difference of the displacement sensor from the initial reading to the final reading into equal parts according to the number of target calibration points, and use the displacement of the piston rod at each of two adjacent equal division points as the displacement increment;

[0026] The formula for calculating the displacement increment of the piston rod in each movement is:

[0027]

[0028] in, This represents the displacement increment of the piston rod with each movement. This is the final reading of the displacement sensor. The target reading of the displacement sensor is given when the piston rod first moves to the target moving position. The number of target calibration points.

[0029] In a ninth possible embodiment of the first aspect, the formula for calculating the target movement position of the piston rod for each movement is:

[0030]

[0031] in, The target movement position of the piston rod for each movement. Let be the movement sequence number of the piston rod.

[0032] Secondly, embodiments of this application provide a displacement sensor calibration method applied to a host computer. The host computer is communicatively connected to an electric cylinder. The electric cylinder includes a piston rod and a displacement sensor. The displacement sensor is used to measure the linear displacement of the piston rod. The displacement sensor includes multiple target calibration points. The method includes:

[0033] Determine the target movement position of the piston rod for each movement, wherein the target movement position is the position where the piston rod is moved to the target calibration point when the reading of the displacement sensor is the target calibration point;

[0034] The piston rod is controlled to move from the initial position to the target moving position each time, where the initial position is the origin of the piston rod's movement;

[0035] After the piston rod is moved to the target moving position each time, the target reading of the displacement sensor and the measured moving distance of the piston rod are obtained to obtain the calibration relationship table of the displacement sensor; the calibration relationship table includes the target reading of the displacement sensor and the measured moving distance of the piston rod at each target moving position;

[0036] The calibration relationship table is stored in the electric cylinder so that the electric cylinder determines the actual moving distance of the piston rod each time the piston rod moves, based on the calibration relationship table and the actual reading of the displacement sensor.

[0037] Thirdly, embodiments of this application provide a host computer, which includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the above-described displacement sensor calibration method.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed on a processor, implements the aforementioned displacement sensor calibration device.

[0039] The embodiments of this application have the following beneficial effects:

[0040] This embodiment of a displacement sensor calibration device includes: a host computer and an electric cylinder. The electric cylinder includes a piston rod and a displacement sensor. The displacement sensor is used to measure the linear displacement of the piston rod and includes multiple target calibration points. The host computer is used to communicate with the electric cylinder. The host computer is used to determine the target movement position of the piston rod each time it moves. The target movement position is the position when the piston rod is moved to the target calibration point of the displacement sensor. The host computer is also used to control the piston rod to move from an initial position to the target movement position each time. The initial position is the origin of the piston rod's movement. After the piston rod moves to the target movement position each time, the host computer is also used to obtain the target reading of the displacement sensor and the measured movement distance of the piston rod, and obtain a calibration relationship table of the displacement sensor. The electric cylinder is used to store the calibration relationship table. Each time the piston rod moves, the actual movement distance of the piston rod is determined according to the calibration relationship table and the actual reading of the displacement sensor. This application realizes automatic calibration of the displacement sensor in the electric cylinder, which greatly reduces the calibration workload. It can easily calibrate the actual reading of the displacement sensor with the actual movement distance of the piston rod, reduce the error of the displacement sensor, and improve the measurement accuracy of the displacement sensor. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This paper shows a schematic diagram of a first structure of a displacement sensor calibration device according to an embodiment of this application;

[0043] Figure 2 A second structural schematic diagram of the displacement sensor calibration device according to an embodiment of this application is shown;

[0044] Figure 3 A schematic flowchart of a displacement sensor calibration method according to an embodiment of this application is shown.

[0045] Explanation of key component symbols:

[0046] 100-Displacement sensor calibration device; 110-Host computer; 120-Electric cylinder; 121-Piston rod; 122-Displacement sensor; 130-Displacement measuring instrument. Detailed Implementation

[0047] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0048] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0050] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0051] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0052] There are many types of sensors used to measure displacement, such as magnetic scales, optical scales, laser displacement sensors, resistive displacement sensors, eddy current sensors, etc., with precision even reaching the nanometer level. The measurement accuracy of a displacement sensor is determined by many factors. The characteristics of the design itself determine the general accuracy range, but proper usage is also a crucial method for improving sensor accuracy. For example, during the installation of optical / magnetic scales, factors such as the distance and parallelism between the scale and the sensing chip will affect its measurement accuracy; when using laser displacement sensors, the relative position of the transmitter and receiver, the cleanliness of the receiver surface, and other factors will affect the accuracy; for contact-type resistive displacement sensors, factors such as the surface flatness and the contact between the brush and the resistor strip will affect the accuracy. To improve sensor accuracy, although some special targeted treatments can be performed based on the characteristics of each sensor, it is impossible to fundamentally eliminate the accuracy loss caused by external conditions. For example, absolute parallelism cannot be guaranteed during the installation of magnetic / optical scales, and the relationship between resistance and displacement in resistive displacement sensors cannot be guaranteed to be completely linear in production.

[0053] In displacement sensor applications, the AD (Analog-to-Digital) sampled values ​​of the displacement sensor are mostly used; that is, the readings represent the position. The AD sampled value of a displacement sensor refers to the numerical value obtained after converting the analog voltage signal output by the displacement sensor into a digital signal through an analog-to-digital converter (ADC), used to represent the measurement result of the displacement sensor. Before calibration, the readings of this displacement sensor do not have the function of representing the true position. The calibration process is to correlate the actual physical displacement with the displacement sensor readings.

[0054] To further improve the accuracy of displacement sensors, this application proposes a displacement sensor calibration device, method, host computer, and storage medium. This application correlates the actual movement distance of the piston rod with the readings of the displacement sensor, establishing a mapping relationship between the actual readings of the displacement sensor and the actual movement distance of the piston rod, thereby determining the actual movement distance of the piston rod.

[0055] First, this application provides a displacement sensor calibration device 100. Please refer to... Figure 1This is a structural block diagram of the displacement sensor calibration device 100 provided in this application embodiment. The displacement sensor calibration device 100 may include a host computer 110 and an electric cylinder 120. The electric cylinder 120 includes a piston rod 121 and a displacement sensor 122. The displacement sensor 122 is used to measure the linear displacement of the piston rod 121 and includes multiple target calibration points. The host computer 110 is used for communication connection with the electric cylinder 120. The host computer 110 can be directly or indirectly electrically connected to the electric cylinder 120 and the displacement sensor 122 installed in the electric cylinder 120 to realize data transmission and interaction. For example, these components can be electrically connected to each other through a bus and / or signal lines.

[0056] In this embodiment, the piston rod 121 is used to transmit the driving force of the motor inside the electric cylinder 120 to an external load, pushing or pulling the workpiece. The displacement sensor 122 may include, but is not limited to, a magnetic grating sensor, a magnetostrictive sensor, a linear encoder sensor, a potentiometer-type sensor, etc.

[0057] In one embodiment, the host computer 110 is used to determine the target movement position of the piston rod 121 for each movement. The target movement position is the position where the piston rod 121 is moved to the position where the reading of the displacement sensor 122 is the target calibration point. The host computer 110 is also used to determine the displacement increment of the piston rod 121 for each movement based on the initial reading, the final reading of the displacement sensor 122 and the number of target calibration points, and to determine the target movement position of the piston rod 121 for each movement based on the displacement increment of the piston rod 121 for each movement.

[0058] The initial reading of displacement sensor 122 is the reading when piston rod 121 is at the origin of movement, and the final reading is the reading when piston rod 121 is at the end point of movement. The origin of movement is the starting position of piston rod 121 on the movement trajectory, and the end point of movement is the ending position of piston rod 121 on the movement trajectory. The host computer 110 is also used to divide the total difference in readings of displacement sensor 122 from the initial reading to the final reading into equal parts according to the number of target calibration points, and to use the displacement of piston rod 121 between each two adjacent division points as the displacement increment.

[0059] In one embodiment, the formula for calculating the displacement increment of the piston rod 121 in each movement is:

[0060]

[0061] in, This represents the displacement increment of piston rod 121 with each movement. This is the termination reading of displacement sensor 122. The target reading of displacement sensor 122 is the reading when piston rod 121 first moves to the target moving position, i.e., the initial reading of displacement sensor 122. The number of target calibration points, It is a positive integer.

[0062] In another embodiment, the host computer 110 is used to determine the target movement position of the piston rod 121 for each movement based on the displacement increment of the piston rod 121. The formula for calculating the target movement position of the piston rod 121 for each movement is:

[0063]

[0064] in, The target moving position of piston rod 121 for each movement. This is the movement sequence number of piston rod 121, which is an integer. For example, when piston rod 121 is at the origin, the reading of displacement sensor 122 is 100 ADC (Analog-to-Digital Converter) samples; when piston rod 121 is at the endpoint, the reading of displacement sensor 122 is 1000 ADC samples. If there are 10 target calibration points, then the displacement increment of piston rod 121 each time is 100, that is, starting from the target calibration point with 100 ADC samples, it increments by 100 ADC samples every 100 samples, ending at 1000 ADC samples. At this time, the target's movement position is the first target calibration point of the displacement sensor 122, and the reading of the displacement sensor 122 is 100 ADC sample value. When the target moves to the second target calibration point of displacement sensor 122, the reading of displacement sensor 122 is 200 ADC sample value. This continues until piston rod 121 moves to the tenth target calibration point of displacement sensor 122, at which point the reading of displacement sensor 122 is 1000 ADC sample value.

[0065] In one embodiment, this application uses a magnetic grating sensor in the electric cylinder 120 as the displacement sensor 122 as an example. The magnetic grating sensor includes a magnetic grating scale and a magnetic head. During preparation, the piston rod 121 of the electric cylinder 120 is zeroed and fixed on a marble platform to ensure that the electric cylinder 120 will not deviate during operation and that the piston rod 121 of the electric cylinder 120 is perpendicular to the marble platform. The magnetic head of the magnetic grating sensor is brought into contact with the top of the piston rod 121 to measure the movement position of the piston rod 121. A margin for the magnetic head's movement is reserved to ensure that the range of the magnetic grating scale can cover the full range of the piston rod 121's movement.

[0066] In one embodiment, the host computer 110 is also used to control the piston rod 121 to move from an initial position to a target moving position each time, where the initial position is the origin of the piston rod 121's movement. In this embodiment, the host computer 110 can establish communication with the electric cylinder 120 and control the piston rod 121 in the electric cylinder 120 to perform basic operations such as running and stopping. After calculating the target moving position of the piston rod 121, the host computer 110 can control the piston rod 121 to move to the target moving position.

[0067] In one embodiment, after the piston rod 121 is moved to the target position each time, the host computer 110 acquires the target reading of the displacement sensor 122 and the measured distance of the piston rod 121, thus obtaining a calibration relationship table for the displacement sensor 122. The calibration relationship table includes the target reading of the displacement sensor 122 and the measured distance of the piston rod 121 at each target position. The horizontal axis of this relationship table can be the target reading of the displacement sensor 122, and the vertical axis can be the measured distance of the piston rod 121. Because the target position increases during calibration, the measured distance in this table increases monotonically.

[0068] In one implementation, such as Figure 2 As shown, the displacement sensor calibration device 100 further includes a displacement measuring instrument 130, and the host computer 110 is communicatively connected to the displacement measuring instrument 130. Exemplarily, the displacement measuring instrument 130 is used to measure the movement distance of the piston rod 121 after each movement of the piston rod 121 to the target moving position, that is, the actual movement distance of the piston rod 121 from the moving origin to the target moving position.

[0069] In this embodiment, the host computer 110 can establish communication with the displacement sensor 122 and the displacement measuring instrument 130 to read the readings of the displacement sensor 122 and the position readings of the displacement measuring instrument 130. The host computer 110 can obtain the movement distance of the piston rod 121 measured by the displacement measuring instrument 130 after each movement of the piston rod 121 to the target moving position. The displacement measuring instrument 130 can be a high-precision contact digital sensor, capable of accurately measuring the movement distance of the piston rod 121.

[0070] In one embodiment, before acquiring the target reading of the displacement sensor 122 and the measured movement distance of the piston rod 121 each time, the host computer 110 is further configured to control the piston rod 121 to maintain the target moving position for a preset time; and to determine whether the displacement fluctuation of the piston rod 121 within the preset time is within a preset range. If it is determined that the displacement fluctuation of the piston rod 121 within the preset time is within the preset range, a shutdown command is sent to the electric cylinder 120 so that the target reading and the measured movement distance are acquired after the electric cylinder 120 is shut down.

[0071] In this embodiment, the displacement sensor readings and piston rod distance measurement are collected while the electric cylinder 120 is off, thereby improving the accuracy of sensor calibration. The preset time and preset range can be set according to actual conditions. For example, when the piston rod 121 moves to a new target position, the preset time can be 500ms and the preset range can be [0, 2 micrometers].

[0072] In one embodiment, the host computer 110 is also used to acquire multiple real-time readings of the displacement sensor 122 within a preset time; calculate the reading difference between two adjacent real-time readings among the multiple real-time readings; and determine whether the displacement fluctuation of the piston rod 121 within the preset time is within a preset range based on the comparison result of the reading difference and the preset difference range, so as to determine whether the piston rod 121 has entered a stable state. Only when the piston rod 121 is stable will the power-off sampling be performed, thereby significantly improving the accuracy and consistency of the sensor calibration data.

[0073] In this embodiment, the preset difference range is the maximum allowable difference between adjacent readings, used as a threshold standard to determine whether the displacement fluctuation of the piston rod 121 is within the preset range. If the difference between two adjacent readings is less than or equal to the preset difference range, the displacement fluctuation of the piston rod 121 is considered to be within the preset range; if the difference exceeds the preset difference range, the displacement fluctuation of the piston rod 121 exceeds the preset range, and the piston rod 121 is considered not yet stable, requiring continued waiting or an extended stabilization time. The preset difference range and the preset range correspond one-to-one. The minimum value of the preset difference range is zero, and the maximum value of the preset difference range is the difference between the readings of the displacement sensor 122 before calibration when the piston rod 121 reaches the minimum and maximum values ​​of the preset range.

[0074] In one embodiment, taking the magnetic grating sensor in the electric cylinder 120 as the displacement sensor 122 as an example, the host computer 110 sends the new target movement position information to the electric cylinder 120, causing it to control the motor to move the piston rod 121 of the electric cylinder 120 to the new target movement position. After maintaining this position for a period of time (e.g., 500ms), the host computer 110 uses the magnetic grating sensor reading to determine whether the displacement fluctuation of the piston rod 121 within the preset time is within a preset range. After the piston rod 121 stabilizes, to reduce position fluctuations during data recording, the host computer 110 sends a shutdown command to the electric cylinder 120. After the electric cylinder 120 is shut down, the host computer 110 records the current magnetic grating reading and the position information of the displacement measuring instrument 130. After recording is completed, the host computer sends the next target movement position to the electric cylinder 120. This process is repeated until all target calibration points within the magnetic grating range are calibrated. Once calibration is complete, a table showing the relationship between the actual measured distance of the piston rod 121 across its entire stroke (obtained via displacement measuring instrument 130) and the magnetic grating sensor readings is obtained.

[0075] In one embodiment, the electric cylinder 120 is used to store a calibration table, and the actual moving distance of the piston rod 121 is determined according to the calibration table and the actual reading of the displacement sensor 122 each time the piston rod 121 moves.

[0076] In one embodiment, the electric cylinder 120 is further configured to determine two adjacent target readings in the calibration relationship table when the actual reading of the displacement sensor 122 is not equal to the target reading in the calibration relationship table, and to determine the corresponding movement measurement distance of the two adjacent target readings. The electric cylinder 120 is also configured to calculate a conversion coefficient of the actual reading of the displacement sensor 122 based on the two adjacent target readings and the corresponding movement measurement distance, and to convert the actual reading of the displacement sensor 122 into the actual movement distance of the piston rod 121 according to the conversion coefficient; wherein the conversion coefficient is the actual displacement change corresponding to a unit displacement sensor 122 reading within the two adjacent target reading intervals in the calibration relationship table.

[0077] In this embodiment, the electric cylinder 120 finds the two target calibration points corresponding to the two target readings that are closest to the current actual reading in the relationship table. The current actual reading output by the sensor is a 324 ADC sample value. The relationship table shows that 300 < 324 < 400, so the two adjacent target readings are 300 and 400.

[0078] In one embodiment, the formula for calculating the conversion factor is:

[0079]

[0080] Indicates the conversion factor. This is the target reading adjacent to the actual reading in the calibration relationship table. The distance to be moved corresponds to an adjacent target reading in the calibration relationship table. This is the target reading adjacent to the actual reading in the calibration table. This represents the measured distance corresponding to the adjacent target reading in the calibration relationship table. , .

[0081] The formula for calculating the actual travel distance of piston rod 121 is as follows:

[0082]

[0083] in, This represents the actual distance the piston rod 121 travels. This is the actual reading of displacement sensor 122. The target reading of displacement sensor 122 is given when piston rod 121 is in the first target moving position. The measured distance of piston rod 121 when it is in the first target moving position.

[0084] In this embodiment, when the electric cylinder 120 uses the calibration displacement sensor 122, the actual reading of the calibration displacement sensor 122 can be read. By looking up the two target readings adjacent to the actual reading in the relationship table, the two target calibration points corresponding to the two adjacent target readings can be determined. The two movement measurement distances corresponding to the two target calibration points can be determined. Substituting into the above expression, the actual movement distance of the piston rod 121 can be determined.

[0085] In another embodiment, the electric cylinder 120 is also used to take the movement measurement distance corresponding to the target reading as the true linear displacement of the piston rod 121, provided that the actual reading of the displacement sensor 122 is equal to the target reading in the calibration relationship table.

[0086] Please refer to Figure 3 , Figure 3 A flowchart of a displacement sensor calibration method provided in this application embodiment is shown. This displacement sensor calibration method is applied to a host computer 110, which is communicatively connected to an electric cylinder 120. The electric cylinder 120 includes a piston rod 121 and a displacement sensor 122. The displacement sensor 122 is used to measure the linear displacement of the piston rod 121. The displacement sensor 122 includes multiple target calibration points. The displacement sensor calibration method specifically includes the following steps:

[0087] S210, determine the target moving position of the piston rod 121 each time it moves. The target moving position is the position when the piston rod 121 is moved to the target calibration point of the displacement sensor 122.

[0088] S220, control the piston rod 121 to move from the initial position to the target moving position each time. The initial position is the origin of the piston rod 121.

[0089] S230, after the piston rod 121 is moved to the target moving position each time, the target reading of the displacement sensor 122 and the moving measurement distance of the piston rod 121 are obtained to obtain the calibration relationship table of the displacement sensor 122; the calibration relationship table includes the target reading of the displacement sensor 122 and the moving measurement distance of the piston rod 121 at each target moving position.

[0090] S240, the calibration relationship table is stored in the electric cylinder 120 so that the electric cylinder 120 can determine the true linear displacement of the piston rod 121 each time the piston rod 121 moves, based on the calibration relationship table and the actual reading of the displacement sensor 122.

[0091] This application also provides a host computer 110, which, by way of example, may include, but is not limited to, an industrial control computer, a PC, or the like. The host computer 110 includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the host computer 110 to perform the aforementioned displacement sensor calibration device 100.

[0092] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0093] Memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), and Electrically Erasable Programmable Read-Only Memory (EEPROM). Memory is used to store computer programs, and the processor can execute these programs upon receiving execution instructions.

[0094] This application also provides a computer-readable storage medium for storing the computer program used in the host computer 110 described above. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0096] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0097] If a function is implemented as a software module 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 this application, in essence, or the part that contributes to the prior art, 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 to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application.

[0098] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A displacement sensor calibration device, characterized in that, include: The host computer and the electric cylinder are included. The electric cylinder includes a piston rod and a displacement sensor. The displacement sensor is used to measure the linear displacement of the piston rod. The displacement sensor includes multiple target calibration points. The host computer is used to communicate with the electric cylinder. The host computer is used to determine the target movement position of the piston rod each time it moves. The target movement position is the position when the piston rod is moved to the position where the reading of the displacement sensor is the target calibration point. The host computer is also used to determine the displacement increment of the piston rod for each movement based on the initial reading and the final reading of the displacement sensor and the number of target calibration points, and to determine the target movement position of the piston rod for each movement based on the displacement increment of the piston rod for each movement. Wherein, the initial reading of the displacement sensor is the reading of the displacement sensor when the piston rod is at the origin of movement, and the final reading of the displacement sensor is the reading of the displacement sensor when the piston rod is at the end of movement; The host computer is also used to control the piston rod to move from the initial position to the target moving position each time, the initial position being the origin of the piston rod's movement; the host computer is also used to acquire the target reading of the displacement sensor and the measured movement distance of the piston rod after each time the piston rod is moved to the target moving position, and to obtain a calibration relationship table for the displacement sensor; the calibration relationship table includes the target reading of the displacement sensor and the measured movement distance of the piston rod at each target moving position; The electric cylinder is used to store the calibration relationship table, and each time the piston rod moves, the actual moving distance of the piston rod is determined according to the calibration relationship table and the actual reading of the displacement sensor; The electric cylinder is also used to determine, under the condition that the actual reading of the displacement sensor is not equal to the target reading in the calibration relationship table, two adjacent target readings in the calibration relationship table, and to determine the movement measurement distance corresponding to the two adjacent target readings; The electric cylinder is also used to calculate the conversion coefficient of the actual reading of the displacement sensor based on the two adjacent target readings and the corresponding movement measurement distance, and to convert the actual reading of the displacement sensor into the actual movement distance of the piston rod according to the conversion coefficient; The conversion coefficient is the actual displacement change corresponding to the unit displacement sensor reading within two adjacent target reading intervals in the calibration relationship table.

2. The displacement sensor calibration device according to claim 1, characterized in that, Also includes: A displacement measuring instrument, wherein the host computer is communicatively connected to the displacement measuring instrument; The displacement measuring instrument is used to measure the distance the piston rod moves after each movement to the target moving position.

3. The displacement sensor calibration device according to claim 1, characterized in that, The electric cylinder is also used to take the movement measurement distance corresponding to the target reading as the actual movement distance of the piston rod, provided that the actual reading of the displacement sensor is equal to the target reading in the calibration relationship table.

4. The displacement sensor calibration device according to claim 1, characterized in that, The host computer is also used to control the piston rod to maintain the target moving position for a preset time, determine whether the displacement fluctuation of the piston rod within the preset time is within a preset range, and, if it is determined that the displacement fluctuation of the piston rod within the preset time is within the preset range, send a shutdown command to the electric cylinder so as to obtain the target reading and the moving measurement distance after the electric cylinder is shut down.

5. The displacement sensor calibration device according to claim 4, characterized in that, The host computer is also used to acquire multiple real-time readings of the displacement sensor within the preset time period, calculate the reading difference between two adjacent real-time readings among the multiple real-time readings, and determine whether the displacement fluctuation of the piston rod within the preset time period is within the preset range based on the comparison result of the reading difference and the preset difference range.

6. The displacement sensor calibration device according to claim 1, characterized in that, The formula for calculating the conversion factor is: Represents the conversion coefficient, The actual reading is a target reading adjacent to the one in the calibration relationship table. The distance to be moved corresponds to an adjacent target reading in the calibration relationship table. The actual reading is the other target reading adjacent to it in the calibration table. The moving measurement distance corresponding to the adjacent target reading in the calibration relationship table; The formula for calculating the actual moving distance of the piston rod is: in, This represents the actual distance the piston rod travels. This is the actual reading of the displacement sensor. The target reading of the displacement sensor is given when the piston rod is in the first target moving position. The measured distance the piston rod moves when it is in the first target moving position.

7. The displacement sensor calibration device according to claim 1, characterized in that, The host computer is also used to divide the total reading difference of the displacement sensor from the initial reading to the final reading into equal parts according to the number of target calibration points, and to take the displacement of the piston rod at each of the two adjacent equal division points as the displacement increment. The formula for calculating the displacement increment of the piston rod in each movement is: in, This represents the displacement increment of the piston rod with each movement. This is the final reading of the displacement sensor. The target reading of the displacement sensor is given when the piston rod first moves to the target moving position. The number of target calibration points.

8. The displacement sensor calibration device according to claim 7, characterized in that, The formula for calculating the target movement position of the piston rod each time is as follows: in, The target movement position of the piston rod for each movement. Let be the movement sequence number of the piston rod.

9. A method for calibrating a displacement sensor, characterized in that, The method is applied to a host computer, which is communicatively connected to an electric cylinder. The electric cylinder includes a piston rod and a displacement sensor. The displacement sensor is used to measure the linear displacement of the piston rod and includes multiple target calibration points. The method includes: Determine the target movement position of the piston rod for each movement, wherein the target movement position is the position where the piston rod is moved to the target calibration point when the reading of the displacement sensor is the target calibration point; Determining the target movement position of the piston rod for each movement includes: The displacement increment of the piston rod for each movement is determined based on the initial and final readings of the displacement sensor and the number of target calibration points, and the target movement position of the piston rod for each movement is determined based on the displacement increment of the piston rod for each movement. The initial reading of the displacement sensor is the reading when the piston rod is at the origin of movement, and the final reading of the displacement sensor is the reading when the piston rod is at the end of movement; the piston rod is controlled to move from the initial position to the target movement position each time, and the initial position is the origin of movement of the piston rod; After the piston rod is moved to the target moving position each time, the target reading of the displacement sensor and the measured moving distance of the piston rod are obtained to obtain the calibration relationship table of the displacement sensor; the calibration relationship table includes the target reading of the displacement sensor and the measured moving distance of the piston rod at each target moving position; The calibration relationship table is stored in the electric cylinder so that the electric cylinder determines the actual moving distance of the piston rod each time the piston rod moves, based on the calibration relationship table and the actual reading of the displacement sensor. The electric cylinder is used to determine two adjacent target readings in the calibration relationship table when the actual reading of the displacement sensor is not equal to the target reading in the calibration relationship table, and to determine the movement measurement distance corresponding to the two adjacent target readings; The electric cylinder is also used to calculate the conversion coefficient of the actual reading of the displacement sensor based on the two adjacent target readings and the corresponding movement measurement distance, and to convert the actual reading of the displacement sensor into the actual movement distance of the piston rod according to the conversion coefficient; The conversion coefficient is the actual displacement change corresponding to the unit displacement sensor reading within two adjacent target reading intervals in the calibration relationship table.

10. A host computer, characterized in that, The host computer includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the displacement sensor calibration method as described in claim 9.

11. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed on a processor, implements the displacement sensor calibration method according to claim 9.

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