Angle-adjustable sensor testing method, angle-adjustable sensor compensation method and angle-adjustable sensor testing device

Abstract

The invention discloses an angle-adjustable sensor test and compensation method and a test device, and the method comprises the steps: controlling an angle adjustment platform which carries a sensor to change the posture according to a preset angle sequence, exerting a constant vertical force under each posture, and synchronously collecting an output signal; based on mechanical decomposition and signal analysis, an accurate cross sensitivity coefficient and a directional symmetry parameter are obtained through calculation. The problem that the sensor performance degradation caused by the actual installation inclination angle of the sensor is difficult to quantitatively evaluate is solved. And the effects of testing and accurately quantifying the key performance of the sensor under the inclined mounting condition at low cost and high efficiency are achieved.

Description

Technical Field

[0001] This application relates to the field of sensor testing technology, and in particular to sensor testing, compensation methods, and testing apparatus for angle adjustment sensors. Background Technology

[0002] High-precision multidimensional force sensors are key sensing components for intelligent equipment to achieve precise force control, compliant operation, and environmental interaction. With the increasing demands for intelligence in fields such as industrial robots, precision machining equipment, medical rehabilitation equipment, and aerospace, extremely stringent requirements are being placed on the performance indicators of multidimensional force sensors, especially their reliability and stability in complex installation environments. The performance of the sensor directly determines the operational accuracy and reliability of intelligent equipment.

[0003] The evaluation of the performance of multi-dimensional force sensors mainly relies on calibration tests under ideal reference conditions. Specifically, it can be divided into two categories: one is to use a full vector calibration system with a multi-axis loading robot and a six-dimensional force reference sensor to apply a known spatial force vector through precise motion; the other is to use a split-axis independent loading test method to calibrate each sensor by applying a unidirectional force along its axis under a horizontal reference.

[0004] However, the aforementioned solutions are insufficient to effectively evaluate the performance of sensors under non-ideal installation conditions commonly encountered in practical applications. In actual deployments, sensors are often in a state of spatial tilt due to factors such as machining errors of the mechanical mounting surface, assembly tolerances, and structural deformation. While multi-axis vector calibration systems theoretically possess testing capabilities in this situation, their extremely high cost and lengthy testing cycles make them unsuitable for routine processes such as R&D iterations and production quality inspections. Furthermore, independent axis loading tests cannot, in principle, simulate the combined normal and tangential forces under tilted conditions. Therefore, a testing scheme that can economically and efficiently simulate and quantitatively evaluate the key performance of sensors under tilted installation conditions is lacking. Summary of the Invention

[0005] This application provides a sensor testing and compensation method and testing device with adjustable angle, which solves the problem of difficulty in quantitatively evaluating the performance degradation of sensors caused by the actual installation tilt angle, and realizes low-cost, high-efficiency testing and quantitative evaluation of the cross-interference characteristics of sensors under tilted installation conditions.

[0006] This application provides a sensor testing and compensation method and testing apparatus for angle adjustment, wherein the sensor testing method for angle adjustment includes: The angle adjustment platform carrying the sensor under test is controlled to change its spatial attitude according to a preset angle sequence; the preset angle sequence includes at least the horizontal zero position attitude, the positive tilt attitude and the negative tilt attitude around the first axis, and the positive tilt attitude and the negative tilt attitude around the second axis. A preset reference force is applied to the sensor under test in each posture, and the output signal of the sensor under test is acquired simultaneously. Based on the output signals acquired at various tilting attitudes, the directional symmetry criteria characterizing the structural response symmetry of the sensor under test in each axis are calculated; and Based on the output signals acquired at various attitudes, and combined with the tangential force components of the preset reference force vector decomposed in the sensor coordinate system at each tilt attitude, the cross-sensitivity coefficient characterizing the degree of response of the sensor under test to the tangential force is calculated.

[0007] Optionally, the step of calculating the directional symmetry basis characterizing the structural response symmetry of the sensor under test in each axis based on the output signals acquired at various tilting attitudes includes: Acquire a second output signal in a positive tilt attitude about the first axis and a third output signal in a negative tilt attitude about the first axis. Calculate the first symmetry parameter based on the second output signal and the third output signal; Acquire a fourth output signal in a positive tilt attitude about the second axis and a fifth output signal in a negative tilt attitude about the second axis. Calculate the second symmetry parameter based on the fourth and fifth output signals; The directional symmetry basis of the sensor under test is generated based on the first symmetry parameter and the second symmetry parameter.

[0008] Optionally, the step of generating the orientation symmetry basis of the sensor under test based on the first symmetry parameter and the second symmetry parameter includes: The first symmetry parameter is compared with the first preset grading threshold set to determine the symmetry level of the sensor under test in the first axis. The second symmetry parameter is compared with the second preset grading threshold set to determine the symmetry level of the sensor under test in the second axis. Based on the symmetry level in the first axis and the symmetry level in the second axis, the overall symmetry performance level of the sensor under test is determined.

[0009] Optionally, after the step of generating the symmetry basis of the sensor under test based on the first symmetry parameter and the second symmetry parameter, the method further includes: Input the first symmetry parameter and the second symmetry parameter into a preset asymmetry error model; Based on the first symmetry parameter, a first set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the first axis; Based on the second symmetry parameter, a second set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the second axis; The first set of correction factors and the second set of correction factors are used as symmetry compensation parameters for the sensor under test and stored.

[0010] Optionally, the step of calculating the cross-sensitivity coefficient, which characterizes the degree of response of the sensor under test to tangential force, includes: For each tilt posture, the theoretical normal force component and theoretical tangential force component of the preset reference force in the sensor's own coordinate system are calculated based on the magnitude of the preset reference force and the tilt angle corresponding to the current tilt posture. Based on the theoretical normal force component and the first output signal acquired under the horizontal zero-position attitude, the expected output value caused by the theoretical normal force component under the current tilt attitude is calculated. Acquire the actual output signal collected under the current tilt attitude; Calculate the pure tangential interference difference between the actual acquired output signal and the expected output value; The pure tangential interference difference is correlated with the corresponding theoretical tangential component to obtain the tangential force sensitivity coefficient under the current tilt attitude. The tangential force sensitivity coefficient is the cross sensitivity parameter.

[0011] Optionally, after obtaining the tangential force sensitivity coefficient under the current tilt attitude, the process includes: The tangential force sensitivity coefficient is associated with the direction information of the corresponding tilt attitude to form the cross sensitivity feature point of the sensor under test; The tangential force sensitivity coefficient at at least one of the cross-sensitivity feature points is compared with a preset qualified threshold. If the tangential force sensitivity coefficient exceeds the preset qualified threshold, it is determined that the cross interference of the sensor under test in the tilt direction corresponding to the feature point is too large, and an unqualified mark is output.

[0012] Furthermore, to achieve the above objectives, embodiments of the present invention also provide a method for compensating for sensor cross-interference, the compensation method comprising: Multiple cross-sensitivity feature points calculated by the sensor under multiple tilt postures in different preset angle sequences are obtained; Based on the multiple cross-sensitivity feature points, a cross-sensitivity field model of the sensor within the spatial tilt angle range is constructed; Obtain the actual installation tilt angle of the sensor, and determine the corresponding interference compensation amount based on the cross-sensitivity field model; The original measurement output value of the sensor is corrected by the interference compensation amount to obtain the compensated accurate measurement value.

[0013] Optionally, the step of obtaining the actual installation tilt angle of the sensor and determining the corresponding interference compensation amount based on the cross-sensitivity field model includes: Obtain the first and second actual tilt angles of the sensor in its actual installation state; The first actual tilt angle and the second actual tilt angle are used as input coordinates to query or calculate in the cross-sensitivity field model; If the coordinate point of the input coordinates coincides with the known tilt attitude point used to construct the cross sensitivity field model, the corresponding interference compensation amount is directly obtained. If they do not coincide, the estimated interference compensation amount corresponding to the coordinate point of the input coordinates is calculated by using a preset interpolation algorithm.

[0014] Furthermore, to achieve the above objectives, embodiments of the present invention also provide a sensor testing device for angle adjustment, the device comprising: An angle adjustment platform, which is a dual-axis independent rotation structure, is used to support and adjust the spatial attitude of the sensor under test. The angle adjustment platform has a first adjustment mechanism that rotates about a first axis and a second adjustment mechanism that rotates about a second axis. A constant force loading mechanism is provided above or to the side of the angle adjustment platform to apply a constant reference force to the sensor under test fixed to the angle adjustment platform in a direction perpendicular to the horizontal plane. A data acquisition unit, connected to the signal of the sensor under test, is used to synchronously acquire the output signal of the sensor under test when the constant force loading mechanism applies force; The first adjustment mechanism and the second adjustment mechanism are configured to drive the angle adjustment platform and the sensor under test to be in the horizontal zero position, the positive tilt position and the negative tilt position around the first axis, and the positive tilt position and the negative tilt position around the second axis in sequence.

[0015] Optionally, the device further includes a control and processing unit, which is communicatively connected to the angle adjustment platform, the constant force loading mechanism, and the data acquisition unit, respectively. The control and processing unit is configured as follows: The angle adjustment platform is controlled to change its posture according to a preset angle sequence; In each posture, the constant force loading mechanism is controlled to apply the reference force and trigger the data acquisition device to acquire signals; Based on the acquired signals, the cross sensitivity parameters and / or directional symmetry criteria of the sensor under test are calculated.

[0016] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By controlling the angle adjustment platform supporting the sensor to change its attitude according to a preset sequence (including horizontal and positive and negative tilts around two axes), a constant vertical force is applied in each attitude while the output signal is collected synchronously. Based on mechanical decomposition and signal analysis, the accurate cross-sensitivity coefficient and directional symmetry parameters are calculated. Based on this, a sensitivity field model is further constructed to achieve real-time interference prediction and compensation at any tilt angle. The corresponding device integrates an angle platform, constant force loading, and data acquisition unit. It achieves the technical effect of testing and accurately quantifying the key performance of sensors under tilted installation conditions at low cost and high efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the sensor testing method for angle adjustment according to this application; Figure 2 This is a schematic flowchart of the sensor testing method for angle adjustment according to this application; Figure 3 This is a flowchart illustrating the sensor cross-interference compensation method of this application; Figure 4 This is a schematic diagram of the frame of the sensor testing device for angle adjustment according to this application; Figure 5 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application. Detailed Implementation

[0018] To address the problem that in practical engineering, the spatial tilt of the mounting base of multi-dimensional force sensors makes it difficult to quantify and evaluate the coupling interference between multiple sensitive axes (normal and tangential), resulting in a significant disconnect between ideal laboratory calibration performance and reliability under complex field conditions. This application proposes an angle-adjustable sensor testing method. By controlling an angle adjustment platform, the multi-dimensional force sensor changes its attitude according to a preset angle sequence (horizontal and positive and negative tilts around its two sensitive axes). A constant vertical force is applied in each attitude, and its output signal is collected synchronously. Based on this, through mechanical decomposition and signal analysis, the cross-sensitivity coefficient under the tangential force response is calculated, and its structural symmetry parameters are directly evaluated by comparing the response under symmetrical tilt angles, thereby achieving a quantitative evaluation of the sensor's key performance under tilted installation conditions. Furthermore, based on the above limited test data, a sensitivity field model capable of predicting interference under arbitrary tilt angles is constructed to achieve real-time error compensation in the field. Ultimately, this achieves the effect of accurately evaluating and actively enhancing the sensor's performance under tilted conditions at low cost and high efficiency.

[0019] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0020] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0021] Example 1 In this embodiment, a sensor testing method for angle adjustment is provided.

[0022] Reference Figure 1-2 The sensor testing method for angle adjustment in this embodiment includes the following steps: Step S1: Control the angle adjustment platform carrying the sensor to be tested to change its spatial attitude according to the preset angle sequence; In this embodiment, the sensor to be tested can be a multi-dimensional force sensor; the angle adjustment platform can be a device with at least two independent rotational degrees of freedom; the preset angle sequence can be set according to actual needs. In this embodiment, the preset angle sequence includes the horizontal zero position attitude, the positive tilt attitude and the negative tilt attitude around the first axis, and the positive tilt attitude and the negative tilt attitude around the second axis.

[0023] As an optional implementation, the sensor under test is mounted at the center of the top mounting surface of the angle adjustment platform, ensuring that the sensor's own defined coordinate system (X, Y, Z axes) is aligned with the platform's physical rotation axes (X and Y axes). At the start of the test, the angle adjustment platform is controlled to change its spatial attitude according to a preset angle sequence, pausing at each attitude for a certain period before moving to the next attitude.

[0024] For example, the preset angle sequence includes at least 5 attitudes, with the horizontal zero-position attitude being the most common. The pitch angle α = 0 degrees, roll angle β = 0 degrees; positive tilt around the Y-axis: α = 0 degrees, β = +10 degrees; negative tilt around the Y-axis: α = 0 degrees, β = -10 degrees; positive tilt around the X-axis: α = +10 degrees, β = 0 degrees; positive tilt around the X-axis: α = -10 degrees, β = 0 degrees. In each target attitude, the angle adjustment platform maintains sufficient stillness time to ensure mechanical vibration attenuation, providing a stable physical environment for subsequent constant force loading and signal acquisition.

[0025] It should be noted that by performing ±10° tests in both the X and Y axes, four boundary feature points located at (±10°, ±10°) can be established on the sensor's tilt plane (α, β). By applying algorithms such as bilinear interpolation to these four points, the performance of any point within this square region can be estimated. In most industrial applications, machining, assembly processes, and foundation leveling are sufficient to control the actual installation tilt angle of the sensor within ±10°. Therefore, setting the feature test points at ±10° is equivalent to directly testing and calibrating the boundary of the performance risk range that requires the most attention and assurance, achieving targeted and efficient testing. Thus, setting the tilt angle at 10° maximizes testing efficiency using the fewest possible test points.

[0026] Step S2: Apply a preset reference force to the sensor under test in each posture and simultaneously acquire the output signal of the sensor under test; In this embodiment, the preset reference force refers to a force vector whose direction is perpendicular to the horizontal plane and whose magnitude remains constant. Its magnitude can be selected according to the sensor's range. The preset reference force is applied to the sensor through a constant force loading device, and the output signal of the sensor under test is acquired simultaneously. If it is a multi-dimensional force sensor, the output signals of all relevant channels of the sensor are recorded simultaneously.

[0027] Optionally, the preset reference force can be set to 1N. This force value is large enough to generate a significant and accurately measurable signal, while being small enough to avoid causing the sensor to enter the nonlinear region or overload risk. When the tilt angle is 10 degrees, the tangential force decomposed from the 1N vertical force is 0.17N. This force value is sufficient to produce a clear signal change while remaining within a safe range of minor interference for assessing cross-interference.

[0028] Specifically, when the preset reference force is 1N, the formula for calculating the theoretical normal / tangential force components is: Normal force tangential force This makes the numerical values ​​of the decomposed force components directly equal to the sine or cosine of the tilt angle, significantly reducing the computational workload and the probability of errors.

[0029] Step S3: Based on the output signals acquired under various tilting postures, calculate the directional symmetry basis characterizing the structural response symmetry of the sensor under test in each axis. In this embodiment, directional symmetry is based on a data-driven criterion used to quantitatively evaluate whether the mechanical structure and electrical response of a sensor are consistent in both positive and negative directions. Structural response symmetry refers to the fact that when a sensor is subjected to the same type of force of equal magnitude but opposite direction, its absolute value or change pattern of output should theoretically be the same. If they are different, it indicates asymmetry in its internal mechanical structure or sensing element in both positive and negative directions.

[0030] As an optional implementation, a second output signal acquired in a positive tilt orientation about the first axis and a third output signal acquired in a negative tilt orientation about the same axis are obtained, and a first symmetry parameter is calculated. A fourth output signal acquired in a positive tilt orientation about the second axis and a fifth output signal acquired in a negative tilt orientation about the same axis are also obtained, and a second symmetry parameter is calculated. The directional symmetry of the sensor under test is generated based on the first and second symmetry parameters.

[0031] For example, the structural symmetry of the sensor is quantified by comparing its output signals at symmetrical tilt angles. The steady-state mean output values ​​O(+10°) and O(-10°) of the X-axis force channel are extracted for positive and negative tilt attitudes around the Y-axis. Since the theoretical tangential forces acting on both are equal in magnitude but opposite in direction, their absolute deviation is calculated. The percentage of symmetry deviation along the X-axis was obtained. This is the first symmetry parameter. Similarly, the percentage of symmetry deviation along the Y-axis is calculated using the positive and negative tilt angle data around the X-axis. That is, the second symmetry parameter. and Compared to a preset threshold of 1.0%, if any deviation exceeds the threshold, the axial structural response is determined to be asymmetrical, and a diagnostic report containing the specific deviation value is generated as a basis for directional symmetry, used to identify process defects or classify products. For example, the diagnostic report might be: X-axis symmetry deviation 0.7% (qualified, threshold < 1.0%); Y-axis symmetry deviation 1.5% (unqualified, threshold < 1.0%). Therefore, the sensor's Y-axis structural response exhibits significant asymmetry, and it is recommended to check the relevant strain gauge patches or mechanical structure along the Y-axis. Alternatively, a status label can be directly output: {X-axis: Symmetrical, Y-axis: Asymmetrical}.

[0032] Optionally, the directional symmetry can also be based on performance levels. A first symmetry parameter is compared with a first preset grading threshold set to determine the symmetry level of the sensor under test along the first axis; a second symmetry parameter is compared with a second preset grading threshold set to determine the symmetry level of the sensor under test along the second axis; based on the symmetry levels along the first and second axes, the overall symmetry performance level of the sensor under test is determined. The rule for determining the overall symmetry performance level can be: taking the lower of the first and second symmetry levels as the overall level; or weighting the two axial levels according to preset weights to obtain the overall level.

[0033] Optionally, after generating the directional symmetry basis, an asymmetry error model can be generated based on the first symmetry parameter and the second symmetry parameter, and the symmetry compensation parameters of the sensor under test can be output based on the model.

[0034] Specifically, the first and second symmetry parameters are input into a preset asymmetry error model. Based on the first symmetry parameter, this model automatically calculates and generates a first set of correction factors (e.g., including proportional coefficients and offsets for positive and negative responses, respectively) to compensate for the difference in positive and negative tangential force responses around the first axis. Simultaneously, based on the second symmetry parameter, a second set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the second axis. Finally, the first and second sets of correction factors are associated with the identifier of the sensor under test and stored as its unique symmetry compensation parameters in non-volatile memory or a compensation database. In subsequent practical applications, these parameters can be called to correct the sensor's original output under tangential forces in different directions in real time. This allows for highly symmetrical and accurate measurement results to be obtained through software algorithms even when inherent asymmetry exists at the hardware level, improving the sensor's practical accuracy and product consistency.

[0035] Step S4: Based on the output signals acquired in each attitude, and combined with the tangential force components of the preset reference force vector decomposed in the sensor coordinate system in each tilt attitude, calculate the cross-sensitivity coefficient characterizing the degree of response of the sensor under test to the tangential force.

[0036] In this embodiment, the tangential force component refers to the force component of the preset reference force in the sensor's own coordinate system, decomposed into a plane orthogonal to its normal axis. When the sensor has a tilt angle, the vertical reference force will generate this component in the X-axis and / or Y-axis directions of the sensor itself. The cross-sensitivity coefficient is a parameter used to quantify the sensor's sensitivity to forces in non-target directions, i.e., tangential forces. The larger the coefficient, the more sensitive the sensor is to interference in that direction, and the worse its anti-interference capability.

[0037] As an optional implementation, for each tilt posture, based on the magnitude of the preset reference force and the tilt angle corresponding to the current tilt posture, the theoretical normal force component and the theoretical tangential force component of the preset reference force in the sensor's own coordinate system are calculated; based on the theoretical normal force component and the first output signal acquired under the horizontal zero-position posture, the expected output value caused by the theoretical normal force component under the current tilt posture is calculated; the actual output signal acquired under the current tilt posture is obtained; the pure tangential interference difference between the actual acquired output signal and the expected output value is calculated; the pure tangential interference difference is correlated with the corresponding theoretical tangential component to obtain the tangential force sensitivity coefficient under the current tilt posture, and the tangential force sensitivity coefficient is the cross-sensitivity parameter.

[0038] For example, the following steps are performed sequentially for each tilting attitude: First, theoretical force decomposition is performed, that is, based on the magnitude F of the preset reference force and the current tilt angle θ, according to the formula and The theoretical normal force components in the sensor's own coordinate system were calculated. With respect to theoretical tangential force components The expected ideal output is then calculated based on the theoretical normal force components. Combined with the first output signal acquired under the horizontal zero-position attitude The reflected normal force-output relationship allows us to derive the expected output value caused solely by the normal force component at the current attitude. When the normal response is linear, it satisfies Then, the actual output is obtained, specifically the sensor output signal actually acquired under the current attitude. Furthermore, the pure tangential interference is separated, and the pure tangential interference difference is obtained by calculating the difference between the actual output and the expected output. This value has excluded the influence of normal force variation and corresponds exactly to the theoretical tangential force component. The interference effect is considered. Finally, the sensitivity coefficient is calculated by dividing the pure tangential interference difference by the theoretical tangential force component to obtain the tangential force sensitivity coefficient under the current attitude. = This coefficient physically represents the output change caused by a unit tangential force. Its absolute value directly quantifies the sensor’s sensitivity to tangential interference, i.e., the cross-sensitivity quantification parameter.

[0039] Optionally, after calculating the tangential force sensitivity coefficient, the tangential force sensitivity coefficient is associated with the direction information of the corresponding tilt attitude to form a cross-sensitivity feature point of the sensor under test. The tangential force sensitivity coefficient of at least one of the cross-sensitivity feature points is compared with a preset qualified threshold. If it exceeds the preset qualified threshold, the sensor under test is determined to have excessive cross-interference in the tilt direction corresponding to that feature point, and a non-qualified mark is output. A cross-sensitivity feature point is a data unit characterizing the cross-interference performance of a sensor under a specific tilt installation condition. Each feature point is associated with and stores at least the following information: sensor serial number, test time, platform rotation angles (α, β) around the X and Y axes, the calculated theoretical tangential force magnitude and direction Fx or Fy, and the tangential force sensitivity coefficient. The set of these feature points constitutes the cross-interference performance fingerprint of the sensor in multidimensional tilt space, providing a reliable data foundation for subsequent performance qualification determination, trend analysis, model building, and personalized compensation.

[0040] Specifically, in a certain test, the output was measured when the sensor reached its horizontal zero position. Under a negative tilt of 10 degrees around the Y-axis, the theoretical normal force component... Theoretical tangential force components Calculations show that the output caused solely by the normal force Fn is... The sensor output signal was measured under this attitude. The value is 2955.1mV, therefore, its pure tangential interference difference is... =0.7mV. This 0.7mV is the interference output caused purely by the X-axis tangential force of 0.1736. Finally, according to the formula... = The tangential force sensitivity coefficient in this direction was calculated. mV / N. If the preset acceptable threshold is 3.0mV / N, then this feature point is judged as unacceptable.

[0041] In this embodiment, by controlling the sensor to tilt to a preset angle and combining mechanical decomposition and signal separation algorithms, the cross-interference error introduced by the installation tilt is accurately quantified, obtaining a cross-sensitivity coefficient with clear physical meaning, thus solving the problem of unmeasurable error under tilted conditions. Furthermore, by comparing responses at symmetrical tilt angles, a directional symmetry criterion for directly evaluating the internal mechanical and electrical consistency of the sensor is simultaneously generated, enabling non-destructive testing and quantitative evaluation of manufacturing defects. Finally, through a single automated testing process, two core performance criteria—cross-sensitivity characterizing the sensor's external anti-interference capability and directional symmetry criterion for internal structural consistency—are simultaneously output. This provides a complete and mutually corroborating data foundation for comprehensive quality assessment and accurate grading of the sensor, improving its reliability under complex operating conditions.

[0042] Example 2 Based on Embodiment 1, another embodiment of this application is proposed, with reference to... Figure 3 A method for compensating for sensor cross-interference, comprising: Step S701: Obtain multiple cross-sensitivity feature points calculated by the sensor under multiple tilt postures in different preset angle sequences; Step S702: Based on the multiple cross-sensitivity feature points, construct the cross-sensitivity field model of the sensor within the spatial tilt angle range; In this embodiment, based on multiple cross-sensitivity feature points obtained by the testing method in Embodiment 1, a cross-sensitivity field model describing the interference variation law of the sensor in a continuous tilt angle space is constructed through spatial interpolation or surface fitting. In practical applications, based on the actual installation tilt angle of the sensor, the interference compensation amount is obtained through the model, and the actual measurement value of the sensor is corrected in real time based on the interference compensation amount. This enables the prediction and active suppression of cross-interference of the sensor in the full attitude range using a limited number of specialized test data, thereby improving the final measurement accuracy and reliability of the sensor in actual complex installation environments without changing the inherent hardware performance.

[0043] As an optional implementation, the sensor is used to generate four cross-sensitivity feature points using the testing method of Embodiment 1. For example, the poses corresponding to these four points are: , , , Each point contains its corresponding tangential force sensitivity coefficient. The four feature points mentioned above are input into the data processing unit. A bilinear interpolation algorithm is used, with two tilt angles... Using the four points as independent variables and the sensitivity coefficient as the dependent variable, a continuous two-dimensional cross-sensitivity field model is constructed within a square region enclosed by these four points. Mathematically, this model is expressed as a bivariate function. Alternatively, it can be stored as a high-resolution two-dimensional lookup table.

[0044] Step S703: Obtain the actual installation tilt angle of the sensor and determine the corresponding interference compensation amount based on the cross-sensitivity field model; As an optional implementation, in practical applications, the first actual tilt angle α and the second actual tilt angle β of the sensor in its actual installation state are obtained. These two actual tilt angles are then used as input coordinates for querying or calculation within the cross-sensitivity field model. If the coordinates of the input coordinates coincide with a known tilt attitude point used to construct the cross-sensitivity field model, the corresponding interference compensation amount is directly obtained; otherwise, a preset interpolation algorithm is used to calculate the estimated interference compensation amount corresponding to the coordinates of the input coordinates.

[0045] For example, in practical use, a high-precision dual-axis digital inclinometer integrated on the sensor body or mounting base is used to measure the current installation tilt angle of the sensor in real time, thus obtaining the real-time tilt angle. Using the real-time tilt angle as input, the cross-sensitivity field model constructed in the first step is queried or calculated. If the model is a lookup table, the estimated sensitivity coefficient at the current tilt angle is determined using nearest neighbor or linear interpolation methods. If the model is a function, it can be directly substituted into the calculation to obtain the estimated sensitivity coefficient. Simultaneously, the compensation unit receives the sensor's raw, undecoupled multidimensional output signal. Estimate the current direction and magnitude of the principal force based on the original signal. Combined with the estimated sensitivity coefficient obtained from querying or calculation. Calculate the error components caused by crosstalk under the current attitude. For a case mainly subjected to normal force, calculate the interference compensation amount for the Z-axis reading. It can be estimated as = × .

[0046] Step S704: Correct the original measurement output value of the sensor using the interference compensation amount to obtain the compensated accurate measurement value.

[0047] As an optional implementation, after obtaining the interference compensation amount, the original measurement output value of the sensor is... Subtract or add the calculated interference compensation amount This allows for the accurate Z-axis force value to be obtained after correction, enabling dynamic and real-time error correction of the sensor output.

[0048] In this embodiment, after undergoing a simplified special test before leaving the factory, the sensor can automatically adapt to complex installation postures in actual use through the cross-sensitivity field model, and continuously output high-precision measurement values ​​close to the ideal horizontal installation state, which greatly enhances its adaptability to complex engineering environments.

[0049] Example 3 Based on the same inventive concept, this application also provides a sensor testing device for angle adjustment corresponding to the method in Embodiment 1, as shown in Embodiment 3.

[0050] Reference Figure 4 The angle-adjustable sensor testing device includes: an angle adjustment platform, a constant force loading mechanism, and a data acquisition unit.

[0051] An angle adjustment platform, which is a dual-axis independent rotation structure, is used to support and adjust the spatial attitude of the sensor under test. The angle adjustment platform has a first adjustment mechanism that rotates about a first axis and a second adjustment mechanism that rotates about a second axis. In this embodiment, the main function of the angle adjustment platform is to support the sensor under test and adjust its spatial attitude. The platform typically consists of a rigid base, a first turntable, and a second turntable. The first adjustment mechanism drives the first turntable to rotate around a first axis, achieving forward / backward tilting of the sensor. Similarly, the second adjustment mechanism, using high-precision driving, drives the second turntable, mounted on the first turntable, to rotate around a second axis, achieving left / right tilting of the sensor. Through the coordinated or sequential control of the two mechanisms, the sensor can be stably positioned in a series of preset tilt attitudes, including a horizontal zero position.

[0052] A constant force loading mechanism is provided above or to the side of the angle adjustment platform to apply a constant reference force to the sensor under test fixed to the angle adjustment platform in a direction perpendicular to the horizontal plane. In this embodiment, the constant force loading mechanism is independently set above the angle adjustment platform, or set to the side according to the layout requirements. Its function is to apply a constant and known reference force to the sensitive part (such as the loading head or the force-bearing surface) of the sensor to be measured that is fixed on the angle adjustment platform in a direction perpendicular to the horizontal plane.

[0053] Optionally, the constant force loading mechanism may include: a high-rigidity support frame, an actuator with closed-loop force control (such as a high-precision electric cylinder or voice coil motor), and a standard force sensor mounted at the end of the actuator. Upon receiving a target force value (e.g., 1 Newton), the actuator's displacement is dynamically adjusted by comparing the feedback value from the standard force sensor with the target value, ensuring that the force acting on the sensor under test remains constant during the contact period.

[0054] Alternatively, the constant force loading mechanism may also employ a mechanical constant force device with a fixed stroke and pre-calibrated force value, such as a calibrated weight-lever system or a constant force spring device.

[0055] A data acquisition unit, connected to the signal of the sensor under test, is used to synchronously acquire the output signal of the sensor under test when the constant force loading mechanism applies force; In this embodiment, the data acquisition unit acquires the raw electrical signals of all relevant output channels of the sensor with high synchronous accuracy throughout the entire duration of the constant force loading mechanism applying a reference force to the sensor. The data acquisition unit is typically a multi-channel synchronous sampling type, featuring high resolution and high sampling rate.

[0056] In addition, the angle adjustment sensor testing device also includes a control and processing unit, which is communicatively connected to the angle adjustment platform, the constant force loading mechanism, and the data acquisition unit; the control and processing unit is configured as follows: The angle adjustment platform is controlled to change its posture according to a preset angle sequence; In each posture, the constant force loading mechanism is controlled to apply the reference force and trigger the data acquisition device to acquire signals; Based on the acquired signals, the cross sensitivity parameters and / or directional symmetry criteria of the sensor under test are calculated.

[0057] In this embodiment, the control and processing unit is configured to perform three core tasks: attitude sequence control, force application and acquisition synchronization control, and data analysis and processing.

[0058] Specifically, when performing the attitude sequence control task, control commands are sent to the angle adjustment platform in sequence according to the pre-input or set test program, driving it to move around the first adjustment mechanism and the second adjustment mechanism, so that the sensor under test arrives and stabilizes in the horizontal zero position, the positive tilt attitude and the negative tilt attitude around the first axis, and the positive tilt attitude and the negative tilt attitude around the second axis in sequence.

[0059] Specifically, when performing the synchronous control task of force application and data acquisition, after the sensor stabilizes in each target posture, a command is sent to the constant force loading mechanism to control its actuator to apply a constant reference force to the sensor in a smooth and controlled manner, maintaining the force value stable. After confirming that the force value has reached and stabilized within the target range, a synchronization trigger signal is sent to the data acquisition unit, commanding it to begin synchronously acquiring the output signals of all channels of the sensor under test at a preset sampling rate. After completing the preset acquisition time, the constant force loading mechanism is controlled to unload the load.

[0060] Specifically, when performing data analysis and processing tasks, the control and processing unit receives and stores raw signal data from the data acquisition unit. Based on these signals, the built-in dedicated algorithm software automatically executes the calculation process described in the method of this embodiment, such as calculating the cross sensitivity coefficient, directional symmetry basis, generating test reports, determining pass / fail status, or storing the raw data and calculation results in a database.

[0061] Since the apparatus described in Embodiment 3 of this application is an apparatus used to implement the method of Embodiment 1 of this application, those skilled in the art can understand the specific structure and variations of the system based on the method described in Embodiment 1 of this application, and therefore will not be described again here. All systems used in the method of Embodiment 1 of this application fall within the scope of protection of this application.

[0062] Example 4 In this application embodiment, a sensor testing and sensor cross-interference compensation device is proposed.

[0063] Reference Figure 5 , Figure 5 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application.

[0064] like Figure 5 As shown, the control terminal may include: a processor 1001, such as a CPU, a network interface 1003, a memory 1004, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The network interface 1003 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be high-speed RAM or stable non-volatile memory, such as disk storage. Alternatively, the memory 1004 may be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art will understand that Figure 5 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0066] like Figure 5 As shown, the memory 1004, which serves as a computer storage medium, may include an operating system, a network communication module, and a sensor test program for angle adjustment.

[0067] exist Figure 5 In the device hardware structure shown, the processor 1001 can call the angle adjustment sensor test program stored in the memory 1004 and perform the following operations: The angle adjustment platform carrying the sensor under test is controlled to change its spatial attitude according to a preset angle sequence; the preset angle sequence includes at least the horizontal zero position attitude, the positive tilt attitude and the negative tilt attitude around the first axis, and the positive tilt attitude and the negative tilt attitude around the second axis. A preset reference force is applied to the sensor under test in each posture, and the output signal of the sensor under test is acquired simultaneously. Based on the output signals acquired at various tilting attitudes, the directional symmetry criteria characterizing the structural response symmetry of the sensor under test in each axis are calculated; and Based on the output signals acquired at various attitudes, and combined with the tangential force components of the preset reference force vector decomposed in the sensor coordinate system at each tilt attitude, the cross-sensitivity coefficient characterizing the degree of response of the sensor under test to the tangential force is calculated.

[0068] Optionally, the processor 1001 may call the angle adjustment sensor test program stored in the memory 1004 and also perform the following operations: Acquire a second output signal in a positive tilt attitude about the first axis and a third output signal in a negative tilt attitude about the first axis. Calculate the first symmetry parameter based on the second output signal and the third output signal; Acquire a fourth output signal in a positive tilt attitude about the second axis and a fifth output signal in a negative tilt attitude about the second axis. Calculate the second symmetry parameter based on the fourth and fifth output signals; The directional symmetry basis of the sensor under test is generated based on the first symmetry parameter and the second symmetry parameter.

[0069] Optionally, the processor 1001 may call the angle adjustment sensor test program stored in the memory 1004 and also perform the following operations: The first symmetry parameter is compared with the first preset grading threshold set to determine the symmetry level of the sensor under test in the first axis. The second symmetry parameter is compared with the second preset grading threshold set to determine the symmetry level of the sensor under test in the second axis. Based on the symmetry level in the first axis and the symmetry level in the second axis, the overall symmetry performance level of the sensor under test is determined.

[0070] Optionally, the processor 1001 may call the angle adjustment sensor test program stored in the memory 1004 and also perform the following operations: Input the first symmetry parameter and the second symmetry parameter into a preset asymmetry error model; Based on the first symmetry parameter, a first set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the first axis; Based on the second symmetry parameter, a second set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the second axis; The first set of correction factors and the second set of correction factors are used as symmetry compensation parameters for the sensor under test and stored.

[0071] Optionally, the processor 1001 may call the angle adjustment sensor test program stored in the memory 1004 and also perform the following operations: For each tilt posture, the theoretical normal force component and theoretical tangential force component of the preset reference force in the sensor's own coordinate system are calculated based on the magnitude of the preset reference force and the tilt angle corresponding to the current tilt posture. Based on the theoretical normal force component and the first output signal acquired under the horizontal zero-position attitude, the expected output value caused by the theoretical normal force component under the current tilt attitude is calculated. Acquire the actual output signal collected under the current tilt attitude; Calculate the pure tangential interference difference between the actual acquired output signal and the expected output value; The pure tangential interference difference is correlated with the corresponding theoretical tangential component to obtain the tangential force sensitivity coefficient under the current tilt attitude. The tangential force sensitivity coefficient is the cross sensitivity parameter.

[0072] Optionally, the processor 1001 may call the angle adjustment sensor test program stored in the memory 1004 and also perform the following operations: The tangential force sensitivity coefficient is associated with the direction information of the corresponding tilt attitude to form the cross sensitivity feature point of the sensor under test; The tangential force sensitivity coefficient at at least one of the cross-sensitivity feature points is compared with a preset qualified threshold. If the tangential force sensitivity coefficient exceeds the preset qualified threshold, it is determined that the cross interference of the sensor under test in the tilt direction corresponding to the feature point is too large, and an unqualified mark is output.

[0073] In addition, such as Figure 5 As shown, the memory 1004, which serves as a computer storage medium, may also include an operating system, a network communication module, and a compensation program for sensor cross-interference.

[0074] exist Figure 5In the device hardware structure shown, the processor 1001 can call the sensor cross-interference compensation program stored in the memory 1004 and perform the following operations: Multiple cross-sensitivity feature points calculated by the sensor under multiple tilt postures in different preset angle sequences are obtained; Based on the multiple cross-sensitivity feature points, a cross-sensitivity field model of the sensor within the spatial tilt angle range is constructed; Obtain the actual installation tilt angle of the sensor, and determine the corresponding interference compensation amount based on the cross-sensitivity field model; The original measurement output value of the sensor is corrected by the interference compensation amount to obtain the compensated accurate measurement value.

[0075] Optionally, the processor 1001 may call the sensor cross-interference compensation program stored in the memory 1004 and also perform the following operations: Obtain the first and second actual tilt angles of the sensor in its actual installation state; The first actual tilt angle and the second actual tilt angle are used as input coordinates to query or calculate in the cross-sensitivity field model; If the coordinate point of the input coordinates coincides with the known tilt attitude point used to construct the cross sensitivity field model, the corresponding interference compensation amount is directly obtained. If they do not coincide, the estimated interference compensation amount corresponding to the coordinate point of the input coordinates is calculated by using a preset interpolation algorithm.

[0076] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0078] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0079] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0080] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, third, etc., does not indicate any order. These words can be interpreted as names.

[0081] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0082] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A sensor testing method for angle adjustment, characterized in that, The method includes: The angle adjustment platform carrying the sensor under test is controlled to change its spatial attitude according to a preset angle sequence; the preset angle sequence includes at least the horizontal zero position attitude, the positive tilt attitude and the negative tilt attitude around the first axis, and the positive tilt attitude and the negative tilt attitude around the second axis. A preset reference force is applied to the sensor under test in each posture, and the output signal of the sensor under test is acquired simultaneously. Based on the output signals acquired at various tilting attitudes, the directional symmetry criteria characterizing the structural response symmetry of the sensor under test in each axis are calculated; and Based on the output signals acquired at various attitudes, and combined with the tangential force components of the preset reference force vector decomposed in the sensor coordinate system at each tilt attitude, the cross-sensitivity coefficient characterizing the degree of response of the sensor under test to the tangential force is calculated.

2. The method as described in claim 1, characterized in that, The step of calculating the directional symmetry basis characterizing the structural response symmetry of the sensor under test in each axis based on the output signals acquired at various tilting attitudes includes: Acquire a second output signal in a positive tilt attitude about the first axis and a third output signal in a negative tilt attitude about the first axis. Calculate the first symmetry parameter based on the second output signal and the third output signal; Acquire a fourth output signal in a positive tilt attitude about the second axis and a fifth output signal in a negative tilt attitude about the second axis. Calculate the second symmetry parameter based on the fourth and fifth output signals; The directional symmetry basis of the sensor under test is generated based on the first symmetry parameter and the second symmetry parameter.

3. The method as described in claim 2, characterized in that, The step of generating the orientation symmetry basis of the sensor under test based on the first symmetry parameter and the second symmetry parameter includes: The first symmetry parameter is compared with the first preset grading threshold set to determine the symmetry level of the sensor under test in the first axis. The second symmetry parameter is compared with the second preset grading threshold set to determine the symmetry level of the sensor under test in the second axis. Based on the symmetry level in the first axis and the symmetry level in the second axis, the overall symmetry performance level of the sensor under test is determined.

4. The method as described in claim 2, characterized in that, After the step of generating the orientation symmetry basis of the sensor under test based on the first symmetry parameter and the second symmetry parameter, the method includes: Input the first symmetry parameter and the second symmetry parameter into a preset asymmetry error model; Based on the first symmetry parameter, a first set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the first axis; Based on the second symmetry parameter, a second set of correction factors is generated to compensate for the difference in positive and negative tangential force responses around the second axis; The first set of correction factors and the second set of correction factors are used as symmetry compensation parameters for the sensor under test and stored.

5. The method as described in claim 1, characterized in that, The step of calculating the cross-sensitivity coefficient, which characterizes the degree of response of the sensor under test to tangential force, includes: For each tilt posture, the theoretical normal force component and theoretical tangential force component of the preset reference force in the sensor's own coordinate system are calculated based on the magnitude of the preset reference force and the tilt angle corresponding to the current tilt posture. Based on the theoretical normal force component and the first output signal acquired under the horizontal zero-position attitude, the expected output value caused by the theoretical normal force component under the current tilt attitude is calculated. Acquire the actual output signal collected under the current tilt attitude; Calculate the pure tangential interference difference between the actual acquired output signal and the expected output value; The pure tangential interference difference is correlated with the corresponding theoretical tangential component to obtain the tangential force sensitivity coefficient under the current tilt attitude. The tangential force sensitivity coefficient is the cross sensitivity parameter.

6. The method as described in claim 5, characterized in that, After obtaining the tangential force sensitivity coefficient under the current tilt attitude, the following steps are included: The tangential force sensitivity coefficient is associated with the direction information of the corresponding tilt attitude to form the cross sensitivity feature point of the sensor under test; The tangential force sensitivity coefficient at at least one of the cross-sensitivity feature points is compared with a preset qualified threshold. If the tangential force sensitivity coefficient exceeds the preset qualified threshold, it is determined that the cross interference of the sensor under test in the tilt direction corresponding to the feature point is too large, and an unqualified mark is output.

7. A method for compensating for sensor cross-interference, characterized in that, Using the sensing test method as described in any one of claims 1-6, the compensation method includes: Multiple cross-sensitivity feature points calculated by the sensor under multiple tilt postures in different preset angle sequences are obtained; Based on the multiple cross-sensitivity feature points, a cross-sensitivity field model of the sensor within the spatial tilt angle range is constructed; Obtain the actual installation tilt angle of the sensor, and determine the corresponding interference compensation amount based on the cross-sensitivity field model; The original measurement output value of the sensor is corrected by the interference compensation amount to obtain the compensated accurate measurement value.

8. The method as described in claim 7, characterized in that, The steps of obtaining the actual installation tilt angle of the sensor and determining the corresponding interference compensation amount based on the cross-sensitivity field model include: Obtain the first and second actual tilt angles of the sensor under actual installation conditions; The first actual tilt angle and the second actual tilt angle are used as input coordinates to query or calculate in the cross-sensitivity field model; If the coordinates of the input coordinates coincide with the known tilt attitude points used to construct the cross sensitivity field model, the corresponding interference compensation amount is directly obtained. If they do not coincide, the estimated interference compensation amount corresponding to the coordinate point of the input coordinates is calculated using a preset interpolation algorithm.

9. A sensor testing device for angle adjustment, characterized in that, The device includes: An angle adjustment platform, which is a dual-axis independent rotation structure, is used to support and adjust the spatial attitude of the sensor under test. The angle adjustment platform has a first adjustment mechanism that rotates about a first axis and a second adjustment mechanism that rotates about a second axis. A constant force loading mechanism is provided above or to the side of the angle adjustment platform to apply a constant reference force to the sensor under test fixed to the angle adjustment platform in a direction perpendicular to the horizontal plane. A data acquisition unit, connected to the signal of the sensor under test, is used to synchronously acquire the output signal of the sensor under test when the constant force loading mechanism applies force; The first adjustment mechanism and the second adjustment mechanism are configured to drive the angle adjustment platform and the sensor under test to be in the horizontal zero position, the positive tilt position and the negative tilt position around the first axis, and the positive tilt position and the negative tilt position around the second axis in sequence.

10. The apparatus as claimed in claim 9, characterized in that, The device also includes a control and processing unit, which is communicatively connected to the angle adjustment platform, the constant force loading mechanism and the data acquisition unit. The control and processing unit is configured as follows: The angle adjustment platform is controlled to change its posture according to a preset angle sequence; In each posture, the constant force loading mechanism is controlled to apply the reference force and trigger the data acquisition device to acquire signals; Based on the acquired signals, the cross sensitivity parameters and / or directional symmetry criteria of the sensor under test are calculated.

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