Gear position calibration method for 3D Hall type combination switch

Abstract

The application discloses a gear calibration method of a 3D Hall combined switch. An upper computer is started, a 6-axis force control robot and a CAN bus tester are informed to prepare, the robot inserts a test sleeve into a switch lever and calibrates to the center of the switch; the 6-axis force control robot tests the first gear by rotating the lever, collects force-angle-time arrays, 3D Hall sensor X / Y / Z magnetic field data, calculates alph and beta angles, and constructs a related relationship array and sends the array to the upper computer; the upper computer generates a multi-dimensional curve graph, analyzes the maximum operating force F1 and the angle S1, finds out the force control point F3 and the angle S3 which are equivalent to F1 after S1, determines the trigger time T3 and the calibration data alph3, beta3, X3, Y3 and Z3, repeats the steps to obtain calibration data of each gear, and after the upper computer is verified to be qualified, the CAN bus tester writes product calibration to complete calibration; the 6-axis force control robot tests all gears, and the CAN bus tester detects the trigger condition to verify the calibration effectiveness. The method can avoid problems such as early trigger and delayed trigger of the switch, and the gear function is accurately triggered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile electronic product production testing, in particular to a gear position calibration method of a 3D Hall combined switch. BACKGROUND

[0002] The gear position integration of a new energy automobile combined switch is extremely high, and usually includes left and right shift rods, and the shift rods are integrated with rear wiper OFF, rear wiper, rear glass washing, front glass washing, front wiper, front wiper OFF, wiper speed adjustment (AUTO, LOW, HIGHT) gear / knob information, high beam, passing light, left and right lane changing, left and right steering, gear selection, and some gear functions defined by each automobile manufacturer. The working principle is that the combined switch MCU detects the spatial magnetic field strength information and angle information of the magnet in the shift rod in real time through the 3D Hall sensor, judges the gear angle position state through software, compares with the preset gear angle threshold value of the product, and then forms the gear switch signal, which is sent to each controller unit of the vehicle body in real time through the CAN bus.

[0003] However, due to the size deviation of parts in the production process, the individual size of the product is different, and the traditional method pre-fixes the gear angle threshold value information through the product software, so that the shift angle of each gear of the combined switch shift rod is deviated, which easily causes the gear not to trigger, mis-trigger, skip gear and other phenomena, resulting in product function failure, which not only reduces the production yield, but also may cause the defective products to flow into the user end to cause serious complaints.

[0004] Therefore, an accurate gear calibration method for a 3D Hall combined switch is needed, which corrects the accumulated part deviation of the product, ensures stable and reliable triggering of each gear function, and ensures product quality and consistency. SUMMARY

[0005] The purpose of the present application is to overcome the defects of the prior art, and a gear calibration method of a 3D Hall combined switch is provided, so that the gear function of the switch product can be accurately triggered after the gear angle calibration, and there is no problem of early triggering, delayed triggering, non-triggering, gear skipping and the like.

[0006] The technical scheme of the present application is a gear calibration method of a 3D Hall combined switch, which is realized by a calibration system, the calibration system includes an upper computer, a 6-axis force control robot and a CAN bus tester, and the specific calibration steps are as follows:

[0007] (1) After the upper computer is started, the 6-axis force control robot and the CAN bus tester are notified of calibration preparation, the 6-axis force control robot inserts the test sleeve into the combined switch shift rod, and the test sleeve is calibrated to the center of the switch through force feedback to eliminate the initial deviation;

[0008] (2) 6-axis force control robot simulates human operation trajectory to dial the combined switch dial rod to perform the first gear dial test, and triggers the CAN bus tester and the 6-axis force control robot to synchronize data acquisition; further obtain the force-angle-time relationship array of the first gear dial, the magnetic field intensity data of the 3D Hall sensor in X, Y, Z three directions, and calculate the alph and beta angle information, further construct the angle-time relationship array and the magnetic field intensity-time relationship array, and send the data to the upper computer;

[0009] Wherein alph is the included angle between the line connecting the center point coordinate (X1, Y1) of the magnet magnetic field in the XY plane of the combined switch and the X axis and the X axis, and beta is the included angle between the line connecting the center point coordinate (X1, Z1) of the magnet magnetic field in the XZ plane of the combined switch and the X axis and the X axis, and the XY and XZ plane coordinate origin is the center point of the Hall sensor;

[0010] (3) The upper computer generates a multi-dimensional curve corresponding to the gear: force-time relationship curve, force-angle relationship curve, alph-time relationship curve, beta-time relationship curve, X, Y, Z channel Hall magnetic field intensity-time relationship curve, analyzes to obtain the maximum operating force F1 and the corresponding angle S1, further finds out the force control point F3 and the corresponding angle S3 after S1, and further determines the trigger time point T3 corresponding to F3 and the calibration data alph3, beta3, X3, Y3, Z3 corresponding to T3;

[0011] Wherein, F3 is the gear signal trigger point simulating the hand feeling operation of the human hand, and T3 is the gear trigger time of the gear simulating the hand feeling operation of the human hand;

[0012] (4) According to the calibration logic of steps 2 and 3, the alph3 and beta3 angle data and X3, Y3, Z3 magnetic field data corresponding to each gear are obtained, and after the calibration data of the gear is determined to be in the qualified range by the upper computer, the alph3 and beta3 are written into the product through the CAN bus tester to complete the gear calibration, and if it is unqualified, the calibration is stopped;

[0013] (5) 6-axis force control robot simulates operation test all gears, CAN bus tester synchronously detects gear trigger condition, and verifies calibration validity.

[0014] The calibration system composed of the host computer, the 6-axis force control robot and the CAN bus tester is used to realize accurate calibration of the full gear of the combined switch. The technical scheme has the following advantages: firstly, the high-precision force feedback control of the 6-axis force control robot can eliminate the initial installation deviation, ensure the accurate alignment of the test sleeve and the center of the switch, and improve the calibration reference accuracy; secondly, the multi-dimensional data synchronous acquisition strategy is adopted to synchronously acquire the force-angle-time relationship and three-dimensional magnetic field strength data, thereby providing complete data support for constructing a high-precision calibration model; thirdly, the three-dimensional magnetic field data is converted into quantifiable spatial angle parameters by constructing an alpha-beta angle analysis model, thereby realizing accurate calculation of the gear space position; fourthly, the host computer adopts an intelligent algorithm based on multi-dimensional curve analysis to simulate the force control trigger point of the human hand operation characteristics, thereby ensuring that the calibration parameters meet the ergonomic characteristics; and finally, the actual operation simulation test is performed immediately after the calibration is completed, thereby ensuring that the trigger accuracy and reliability of each gear meet the design requirements. After the calibration of the 3D Hall combined switch, the gear function of the product can be accurately triggered, and problems such as early triggering, delayed triggering, non-triggering and gear skipping do not exist. It has been verified that this method is stable, reliable and efficient.

[0015] Further in the present application, in step (1), the 6-axis force control robot adjusts the motion direction through real-time force feedback, so that the forces and torques in the X, Y and Z directions are all 0, thereby enabling the sleeve to be automatically adjusted and calibrated to the center of the switch, and the test sleeve is closely attached to the combined switch lever with a gap of ≤1mm.

[0016] With the further arrangement, the 6-axis force control robot calibrates the sleeve to the center of the switch through real-time force feedback, and the gap between the test sleeve and the lever is ≤1mm, thereby ensuring the accurate attachment of the test sleeve to the lever, eliminating the influence of the initial position deviation on the subsequent calibration data acquisition, and improving the accuracy of the calibration reference.

[0017] Further in the present application, in step (2), the 6-axis force control robot rotates along the center of the lever to make circular arc dialing test, and sends a start signal to the CAN bus tester through an IO interface, so that the start delay of the CAN bus tester and the 6-axis force control robot can be controlled to be ≤1ms.

[0018] With the further arrangement, the 6-axis force control robot rotates along the center of the lever to make circular arc dialing, simulates the real operation trajectory of the human body, and controls the start delay of the CAN bus tester and the 6-axis force control robot to be ≤1ms, thereby ensuring the synchronization of the data acquisition of the two, avoiding the curve dislocation distortion caused by the start delay, and ensuring the accuracy and reliability of the calibration data.

[0019] The further setting of the present application is that the 6-axis force control robot in step (2) collects gear force data and angle data at a sampling speed of ≤4 ms per point, and forms a force-angle-time relationship array.

[0020] With the above further setting, the 6-axis force control robot collects data at a sampling speed of ≤4 ms per point, improves the collection accuracy and real-time performance of force data and angle data, and the force-angle-time relationship array formed is more accurate in reflecting the gear operation process, further improving the calibration accuracy.

[0021] The further setting of the present application is that in step (2), the MCU of the combination switch collects the magnetic field intensity data of the 3D Hall sensor in X, Y and Z directions in real time, and calculates the alpha and beta angle information through the following formula: alpha=ATAN2(Y,X) / π*180, beta=ATAN2(Z,X) / π*180.

[0022] With the above further setting, the alpha and beta angle information is calculated through the explicit formula, realizing accurate conversion of the magnetic field intensity data to angle information, providing clear and quantitative angle parameters for the host computer to analyze the gear position state, and ensuring the standardization and accuracy of the calibration data calculation.

[0023] The further setting of the present application is that in step (2), after the MCU of the CAN bus tester receives the IO interface start signal through interrupt triggering, it sends a message to the combination switch through the CAN bus to request reading data at a period of ≤20 ms, and the MCU in the combination switch sends the alpha and beta angle information and the 3D Hall magnetic field data of the X, Y and Z channels to the CAN bus tester through the CAN bus in real time after receiving the request, forming an angle-time relationship array and a magnetic field intensity-time relationship array.

[0024] With the above further setting, the CAN bus tester requests to read data at a period of ≤20 ms, and the combination switch feeds back related data in real time, ensuring the real-time and continuity of the magnetic field intensity and angle data collection, and the array formed can fully reflect the data changes in the gear operation process.

[0025] The further setting of the present application is that in step (2), after the 6-axis force control robot completes the gear data collection, it sends a stop signal to the CAN bus tester through the IO, and the CAN bus tester immediately stops testing and collecting, and the 6-axis force control robot and the CAN bus tester respectively send the force-angle-time relationship array, the alpha and beta angle information, the magnetic field intensity data of the X, Y and Z channels, the angle-time relationship array and the magnetic field intensity-time relationship array to the host computer.

[0026] With the further setting, the 6-axis force control robot and the CAN bus tester can be completely matched in the collection period, data redundancy or loss can be avoided, the data integrity and synchronization uploaded to the host computer can be ensured, and the accuracy of curve analysis can be improved.

[0027] The further setting of the present application is that in step (2), the maximum operating force F1 and the corresponding operating angle S1 of the gear peak value of the combination switch are found out through the force-angle relationship curve, and the gear trigger time point T3 corresponding to the force control point F3 on the curve is found out through the force-time relationship curve, and the calibration data alph3, beta3, X3, Y3 and Z3 corresponding to T3 are found out in the alph-time relationship curve, the beta-time relationship curve and the X, Y and Z channel Hall magnetic field strength-time relationship curve.

[0028] With the further setting, the F1, S1, F3 and T3 and the corresponding calibration data can be accurately positioned through the multi-dimensional curve, the characteristic points of the gear trigger can be accurately identified, the calibration data can match the gear trigger requirement of the simulated human hand feeling, the gear trigger after calibration can be more in line with the human operation habit, and the product use experience is improved.

[0029] The further setting of the present application is that in step (4), the qualified range of the calibration data is obtained according to the limit combination switch product data of the batch production, and the alph3 and beta3 data of each gear are sent to the CAN bus tester if qualified, and the qualified alph3 and beta3 data are written into the combination switch product in the form of DID write-in message.

[0030] With the further setting, the qualified range is set according to the limit product data of the batch, the calibration data is written in the form of DID write-in message, the accurate screening of the calibration data is realized, the defective products with large deviation or missing parts are avoided from being calibrated, the stability and standardization of the calibration data writing are ensured, and the product quality consistency is further improved.

[0031] The further setting of the present application is that in step (5), the 6-axis force control robot first performs the lever force curve test on the first gear of the combination switch, sends the start signal to the CAN bus tester through the IO interface to realize the test start synchronization, and reads the CAN message in real time to detect the first gear signal trigger state, and the signal trigger is determined as the qualified calibration of the gear.

[0032] With the further setting, the full-gear synchronous test and trigger detection can verify the calibration effect of each gear, ensure that all gears can be normally triggered, eliminate the situation that a single gear calibration fails, and further ensure the reliability and qualified rate of the product after calibration. Attached Figure Description

[0033] Figure 1 This is a force-angle-time relationship curve in a specific embodiment of the present invention;

[0034] Figure 2 This is a graph showing the angle-time relationship of alph in a specific embodiment of the present invention;

[0035] Figure 3 This is a graph showing the beta angle-time relationship in a specific embodiment of the present invention;

[0036] Figure 4 This is a graph showing the relationship between the Hall magnetic field strength and time in the X-channel of this invention in a specific embodiment.

[0037] Figure 5 This is a graph showing the relationship between the Hall magnetic field strength and time in the Y-channel of this invention, in a specific embodiment of the invention.

[0038] Figure 6 This is a graph showing the relationship between the Hall magnetic field strength and time in the Z-channel of this invention, as shown in a specific embodiment of the invention. Detailed Implementation

[0039] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] like Figures 1-6 As shown, the present invention discloses a method for calibrating the position of a 3D Hall effect combination switch, which is implemented using a calibration system. The calibration system includes a host computer, a 6-axis force-controlled robot, and a CAN bus tester. The specific calibration steps are as follows:

[0041] (1) Calibration preparation and initial calibration

[0042] (1.1) After receiving the start command, the host computer notifies the 6-axis force control robot and the CAN bus tester to prepare for calibration via the Ethernet communication interface.

[0043] (1.2) After receiving the start command from the host computer, the 6-axis force control robot inserts the test sleeve into the combination switch lever. The test sleeve and the lever are tightly fitted together, and the gap between them is ≤1mm.

[0044] (1.3) 6-axis force control robot adjusts the motion direction through real-time force feedback, so that the forces in X, Y, Z directions and torque are all 0, thereby automatically calibrating the test sleeve to the center of the switch, and completely eliminating the problem of inconsistent initial position caused by individual product deviation.

[0045] (2) First gear data synchronous acquisition

[0046] (2.1) 6-axis force control robot simulates human operation trajectory to rotate the lever, so that the lever of the combination switch is rotated along the center of the arc to test the first gear, and at the same time, the 6-axis force control robot and the CAN bus tester are started to test and collect data synchronously through the IO interface sending a start signal to the CAN bus tester, and the delay of the two is ≤1ms;

[0047] (2.2) 6-axis force control robot collects the force data and angle data of the first gear at a sampling speed of ≤4ms per point, forming a force-angle-time relationship array;

[0048] (2.3) The MCU of the combination switch collects the X, Y, Z direction magnetic field intensity data of the 3D Hall sensor in real time, which represents the relative coordinates of the magnet inside the lever relative to the 3D Hall sensor, and calculates the alpha and beta angle information through the formulas alpha=ATAN2(Y,X) / π*180 and beta=ATAN2(Z,X) / π*180, wherein alpha is the angle between the line connecting the XY plane coordinate origin and the magnet magnetic field center point coordinate (X1, Y1) in the XY plane of the combination switch and the X axis, and beta is the angle between the line connecting the XZ plane coordinate origin and the magnet magnetic field center point coordinate (X1, Z1) in the XZ plane of the combination switch and the X axis, and the XY and XZ plane coordinate origins are the center points of the Hall sensor;

[0049] (2.4) After receiving the start signal through interrupt trigger, the MCU of the CAN bus tester sends data reading messages to the combination switch through the CAN bus at a period of ≤20ms, and after receiving the request, the MCU of the combination switch feeds back the alpha and beta angle information and the X, Y, Z channel magnetic field data in real time through the CAN bus, forming an angle-time relationship array and a magnetic field intensity-time relationship array;

[0050] (2.5) After the 6-axis robot completes the collection of this gear, it sends a stop signal to the CAN bus tester through the IO, and the CAN bus tester stops collecting immediately, and the 6-axis force control robot and the CAN bus tester respectively send the force-angle-time relationship array, the alpha and beta angle information, the X, Y, Z channel magnetic field intensity data, the angle-time relationship array, and the magnetic field intensity-time relationship array to the upper computer;

[0051] (3) Gear calibration data precision analysis

[0052] (3.1) After the host computer receives the data, generate the multi-dimensional curve of the gear: force-time relationship curve, force-angle relationship curve, alph-time relationship curve, beta-time relationship curve, X, Y, Z channel Hall magnetic field strength-time relationship curve, and find out the maximum operating force F1 and the corresponding angle S1 of the gear peak value through the force-angle relationship curve;

[0053] (3.2) According to the wave peak maximum operating force F1, further find out the force control point F3 and the corresponding angle S3 after the operating angle S1 with the same F1 force value through the force-angle relationship curve. The force control point is the gear signal trigger point of the simulated human hand feeling operation;

[0054] (3.3) Find out the gear trigger time point T3 corresponding to the force control point F3 through the force-time relationship curve. The time T3 is the gear trigger time of the simulated human hand feeling operation of this gear;

[0055] (3.4) Determine the trigger time point T3 corresponding to F3 through the force-time relationship curve. Find out the alph, beta angle information: alph3, beta3 and the corresponding X, Y, Z three channel magnetic field data: X3, Y3, Z3 corresponding to T3 in the alph-time relationship curve, beta-time relationship curve, X, Y, Z channel Hall magnetic field strength-time relationship curve. The data to be calibrated of this gear has been obtained;

[0056] (4) Full gear calibration and data writing

[0057] (4.1) According to the logic of steps 2 and 3, start the calibration data acquisition of alph3, beta3, X3, Y3, Z3 of the next gear, until all gear calibration data acquisition is completed;

[0058] (4.2) The host computer judges whether the alph3, beta3, X3, Y3, Z3 of each gear is within the qualified range to avoid excessive deviation of parts and parts missing, which may cause defective products to be calibrated. The qualified range is obtained according to the data acquisition of the extreme combination switch product in batch production. If it is qualified, send the alph3, beta3 data of each gear to the CAN bus tester. The CAN bus tester writes the corresponding data into the combination switch product through DID write message, completes the gear calibration; if it is not qualified, the calibration is stopped;

[0059] (5) Calibration effectiveness verification

[0060] (5.1) 6-axis force control robot will simulate human operation trajectory to pull the lever operation first gear, to carry out force curve test, through IO interface to CAN bus tester to send start signal to realize synchronous test;

[0061] (5.2) CAN bus tester reads CAN message, real-time detects the gear signal trigger state, if can trigger normally, then determine that the gear calibration is qualified;

[0062] (5.3) Repeat the above action, complete the trigger test of all gears of the combination switch lever, verify the calibration validity, ensure that there is no gear trigger abnormality.

[0063] Through the above method, the gear calibration of 3D Hall type combination switch is completed, and through batch test verification, the calibrated combination switch gear trigger is accurate, and there is no early trigger, delay trigger, no trigger, skip gear and other phenomena.

Claims

1. A method for calibrating the position of a 3D Hall effect combination switch, characterized in that, A calibration system is used, which includes a host computer, a 6-axis force-controlled robot, and a CAN bus tester. The specific calibration steps are as follows: (1) After the host computer starts, it notifies the 6-axis force control robot and the CAN bus tester to prepare for calibration. Then the 6-axis force control robot inserts the test sleeve into the combination switch lever and calibrates the test sleeve to the center of the switch to eliminate the initial deviation. (2) The 6-axis force control robot simulates the human operating trajectory to move the combination switch lever to perform the first gear shift test and triggers the CAN bus tester to synchronously acquire data with the 6-axis force control robot; further acquire the force-angle-time relationship array of the first gear shift, the magnetic field strength data of the X, Y, and Z directions of the 3D Hall sensor, and calculate the alph and beta angle information, further construct the angle-time relationship array and the magnetic field strength-time relationship array, and send the data to the host computer; Where alph is the angle between the line connecting the center point of the magnetic field of the magnet in the XY plane (X1, Y1) to the origin of the XY plane and the X-axis, beta is the angle between the line connecting the center point of the magnetic field of the magnet in the XZ plane (X1, Z1) to the origin of the XZ plane and the X-axis, and the origin of the XY and XZ planes is the center point of the Hall sensor. (3) The host computer generates a multi-dimensional curve diagram for the gear position: force-time relationship curve diagram, force-angle relationship curve diagram, alph-time relationship curve diagram, beta-time relationship curve diagram, and Hall magnetic field strength-time relationship curve diagram for X, Y, and Z channels. The maximum operating force F1 and the corresponding angle S1 are analyzed and obtained. Then, the force control point F3 and the corresponding angle S3 after S1 are found to be equivalent to F1. Then, the trigger time point T3 corresponding to F3 and the calibration data alph3, beta3, X3, Y3, and Z3 corresponding to T3 are further determined. Wherein, F3 is the gear position signal trigger point that simulates human hand feel operation, and T3 is the gear position trigger time that simulates human hand feel operation; (4) According to the calibration logic of steps 2 and 3, obtain the alph3 and beta3 angle data and X3, Y3 and Z3 magnetic field data corresponding to each gear. After the host computer judges that the calibration data of the gear is within the qualified range, write alph3 and beta3 into the product through the CAN bus tester to complete the gear calibration. If it is not qualified, stop the calibration. (5) The 6-axis force control robot simulates operation test of all gears, and the CAN bus tester synchronously detects the gear triggering status to verify the calibration effectiveness.

2. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (1), the 6-axis force control robot adjusts the direction of motion through real-time force feedback so that the force and torque in the three directions of spatial coordinates X, Y, and Z are all 0, thereby automatically adjusting the sleeve to calibrate to the center of the switch. The test sleeve is in close contact with the combination switch lever and the gap is ≤1mm.

3. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), the 6-axis force control robot performs an arc-shaped motion test along the rotation center of the lever and sends a start signal to the CAN bus tester through the IO interface. The start delay between the CAN bus tester and the 6-axis force control robot can be controlled to be ≤1ms.

4. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), the 6-axis force control robot collects gear force data and angle data at a sampling rate of ≤4ms per point and forms a force-angle-time relationship array.

5. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), the MCU of the combination switch collects the magnetic field strength data of the 3D Hall sensor in the X, Y and Z directions in real time, and calculates the alph and beta angle information by the following formulas: alph=ATAN2(Y,X) / π*180, beta=ATAN2(Z,X) / π*180.

6. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), after the MCU of the CAN bus tester receives the IO interface start signal through interrupt triggering, it sends a message to the combination switch through the CAN bus at a period of ≤20ms to request data reading. After receiving the request, the MCU in the combination switch sends the alph and beta angle information and the 3D Hall magnetic field data of the X, Y and Z channels to the CAN bus tester through the CAN bus in real time, forming an angle-time relationship array and a magnetic field strength-time relationship array.

7. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), after the 6-axis force control robot completes the data acquisition for that gear, it sends a stop signal to the CAN bus tester via IO. The CAN bus tester immediately stops testing and data acquisition. The 6-axis force control robot and the CAN bus tester send the force-angle-time relationship array, alph and beta angle information, magnetic field strength data of the three channels X, Y and Z, angle-time relationship array, and magnetic field strength-time relationship array to the host computer, respectively.

8. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (2), the maximum operating force F1 and the corresponding operating angle S1 of the corresponding gear peak value of the combination switch are found through the force-angle relationship curve. Then, the gear trigger time point T3 corresponding to the force control point F3 on the curve is found through the force-time relationship curve. The calibration data corresponding to T3 are found in the alph-time relationship curve, beta-time relationship curve, and Hall magnetic field strength-time relationship curve of X, Y, and Z channels respectively: alph3, beta3, X3, Y3, Z3.

9. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (4), the qualified range of calibration data is obtained based on the batch production limit combination switch product data. If qualified, the alph3 and beta3 data of each position are sent to the CAN bus tester. The CAN bus tester writes the qualified alph3 and beta3 data into the combination switch product in the form of DID writing message.

10. The method for calibrating the position of a 3D Hall effect combination switch according to claim 1, characterized in that, In step (5), the 6-axis force control robot first performs a lever force curve test on the first position of the combination switch, and simultaneously sends a start signal to the CAN bus tester through the IO interface to achieve test start synchronization. The CAN bus tester reads the CAN message and detects the signal trigger status of the first position in real time. If the signal is triggered, the position is determined to be calibrated as qualified. By repeating the above test actions, the calibration qualification test of all lever positions of the combination switch is completed.

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