Sensor calibration system, and method

Abstract

Disclosed are a sensor calibration system and a method, which are applied to the technical field of sensors and the field of vehicles. The calibration system comprises an excitation vibration source, a test substrate and a calibration device, wherein the excitation vibration source is fixedly connected to the test substrate; the excitation vibration source is used for vibrating the test substrate, the test substrate is used for transmitting vibration to a plurality of sensors, and the calibration device is used for acquiring vibration response data of each sensor under vibration, and calibrating the plurality of sensors on the basis of the vibration response data corresponding to the plurality of sensors so as to obtain calibration data of each sensor; the plurality of sensors are fixedly provided on the test substrate, and the type of the excitation vibration source is different from the type of the sensors. In this way, the calibration efficiency and accuracy of sensors can be improved.

Description

A sensor calibration system and method Technical Field

[0001] This application relates to the field of sensor technology, and in particular to a sensor calibration system and method. Background Technology

[0002] A structure acoustic sensor is a device used to detect and measure structure acoustic signals. Structure acoustics refers to sound waves propagating in solid structures, typically generated by vibrations, impacts, or other mechanical excitations of the solid structure. The function of a structure acoustic sensor is generally to convert the mechanical vibrations caused by structure acoustics into electrical signals for subsequent analysis, processing, and monitoring.

[0003] Due to factors such as differences in manufacturing processes and sensor design, the consistency of acoustic sensors with different structures is poor. This is mainly reflected in the different measurement results and response characteristics of acoustic signals with the same structure. How to efficiently calibrate structural acoustic sensors is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application discloses a sensor calibration system and method, which can improve the calibration efficiency and accuracy of sensors.

[0005] In a first aspect, this application provides a sensor calibration system, which includes: an excitation vibration source, a test substrate, and a calibration device, wherein the excitation vibration source is fixedly connected to the test substrate; the excitation vibration source is used to cause the test substrate to vibrate; the test substrate is used to transmit the vibration to multiple sensors, which are fixedly mounted on the test substrate; the calibration device is used to acquire vibration response data of each sensor under vibration, and to calibrate the multiple sensors according to the vibration response data of the multiple sensors to obtain calibration data of each sensor; wherein the type of the excitation vibration source is different from the type of the sensor.

[0006] An excitation source is a source of excitation that can cause an object or system to vibrate. For example, an excitation source can cause an object or system to vibrate by applying force, energy or other physical action.

[0007] For example, the type of excitation vibration source differs from the type of sensor. The excitation vibration source could be a loudspeaker, piezoelectric exciter, electric motor, vibration test bench, or other tooling assembly that causes the test substrate to vibrate, while the sensor is a structural acoustic sensor to be calibrated. It is understood that different types of excitation sources and sensors may have different coupling characteristics. By selecting different types of excitation sources, measurement errors or inaccurate results caused by certain specific coupling effects between the excitation source and the sensor can be avoided.

[0008] The aforementioned sensor calibration system enables parallel calibration of multiple sensors, improving calibration efficiency. The system uses an excitation vibration source different from the sensor type to vibrate the test substrate. While detecting vibration signals, the system allows for optimized design of the excitation vibration source based on actual application conditions. This more realistically simulates the actual working conditions of the sensor, making the test results and calibration results more practically valuable and improving calibration accuracy.

[0009] In one possible implementation of the first aspect, the distance between each of the plurality of sensors and the excitation vibration source is within a preset range.

[0010] By implementing the above method, the distance between each sensor and the excitation vibration source is equal or has a small error. This setup ensures that the vibration of the test substrate caused by the excitation vibration source travels the same path length to each sensor, resulting in high consistency and comparability of the received vibration signals in terms of time and intensity. This facilitates subsequent analysis and processing of data collected from multiple sensors, improving data reliability and accuracy, and also simplifies calibration and error compensation.

[0011] In one possible implementation of the first aspect, the multiple sensors are arranged in a ring on the test substrate.

[0012] By implementing the above method, the sensors are deployed in a ring, which can comprehensively and accurately capture the vibration at different locations on the test substrate, thereby facilitating the accurate analysis of information such as the location, type, and intensity of the vibration source.

[0013] In one possible implementation of the first aspect, the test substrate is shaped as an axisymmetric or centrally symmetric figure.

[0014] By implementing the above method, the test substrate adopts a symmetrical shape. When subjected to external forces, the force is distributed more evenly across the substrate, reducing stress concentration. In the vibration testing applied to this scheme, the symmetrical shape of the test substrate allows for more uniform force distribution on the sensor, resulting in more accurate vibration response data output. This avoids increased measurement errors or even damage to the sensor due to excessive localized stress on the test substrate. Furthermore, the symmetrical shape of the test substrate is relatively simpler to manufacture, reducing production costs and improving production efficiency. It also facilitates installation and fixation during use.

[0015] In one possible implementation of the first aspect, where the excitation vibration source is a loudspeaker, a piezoelectric exciter, or an electric motor, the excitation vibration source is disposed on a test substrate.

[0016] By implementing the above method, the loudspeaker serves as the excitation vibration source. The loudspeaker can generate a wide frequency range of signals and can also accurately control parameters such as the frequency, amplitude, and waveform of the electrical signal input to the loudspeaker, thereby accurately controlling the characteristics of the generated vibration excitation and facilitating the testing of the sensor's vibration response at different frequencies.

[0017] Piezoelectric actuators are small and lightweight, making them particularly suitable for space-constrained testing environments. As a vibration excitation source, the piezoelectric material rapidly deforms under the influence of an electric field to generate vibration excitation, enabling rapid monitoring of changes in the input signal. This makes them suitable for applications requiring rapid excitation. Furthermore, the output displacement and force of a piezoelectric actuator exhibit a good linear relationship with the input electrical signal. By precisely controlling the electrical signal, high-precision vibration excitation control can be achieved, generating very small and precisely controllable vibrations.

[0018] As a vibration excitation source, electric motors can maintain relatively stable performance during long-term operation, making them suitable for long-term vibration testing experiments, and their maintenance is relatively simple. By controlling parameters such as the speed, direction, and torque of the electric motor, the frequency, amplitude, and phase characteristics of vibration can be precisely adjusted. Electric motors can generate significant driving force, providing sufficient vibration energy for testing scenarios requiring large excitation forces.

[0019] It can be seen that different types of excitation vibration sources are suitable for different testing environments.

[0020] In one possible implementation of the first aspect, when the excitation vibration source is a vibration test bench, the test substrate is fixedly mounted on the vibration test bench.

[0021] By implementing the above method, the vibration test bench serves as the excitation source, allowing for precise control of vibration parameters such as frequency, amplitude, and waveform. It offers extremely high repeatability, ensuring that each test is conducted under identical vibration conditions, providing stable and comparable excitation for research. Furthermore, it can simulate various complex vibration environments to meet diverse testing needs. In addition, the vibration test bench is equipped with comprehensive safety protection devices, ensuring stable and reliable operation and effectively guaranteeing the smooth conduct of testing and the safety of personnel and equipment.

[0022] In one possible implementation of the first aspect, the excitation vibration source includes a support channel and an impact ball, with a first end of the support channel positioned above the test substrate and a second end of the support channel serving as the entry end of the impact ball, which falls from the first end of the support channel to impact the test substrate.

[0023] In implementing the above method, the excitation vibration source is a tooling assembly that includes a support channel and an impact ball. By controlling parameters such as the mass of the impact ball and the drop height of the impact ball, the vibration frequency and amplitude can be precisely controlled. In this way, the excitation vibration source causes the impact ball to fall freely and collide with the test substrate, thereby causing the test substrate to vibrate.

[0024] In one possible implementation of the first aspect, the excitation vibration source includes a connecting rod and a striking head, the striking head being disposed on the connecting rod, and the excitation vibration source being used to drive the striking head to strike the test substrate by controlling the movement of the connecting rod.

[0025] In implementing the above method, the excitation vibration source is a tooling assembly that includes a connecting rod and a striking head. By controlling parameters such as the mass of the striking head and the movement speed of the striking head, the frequency and amplitude of the vibration can be precisely controlled. In this way, the excitation vibration source causes the striking head to strike the test substrate, thereby causing the test substrate to vibrate.

[0026] In one possible implementation of the first aspect, the calibration device is further configured to acquire parameter information of the excitation vibration source, the parameter information of the excitation vibration source including the amplitude and frequency of the excitation signal; specifically, the calibration device is configured to calibrate multiple sensors based on the parameter information of the excitation vibration source and the vibration response data corresponding to multiple sensors, and obtain calibration data for each sensor.

[0027] By implementing the above method and calibrating the sensor using the parameters of the excitation vibration source (such as precise frequency and amplitude), the relationship between the sensor's output and input can be accurately determined, reducing errors and improving calibration precision and accuracy. The parameters of the excitation vibration source can simulate vibration conditions in actual working environments, thus ensuring the calibration results better match the sensor's actual operating environment and enhancing its applicability. When the parameters of the excitation vibration source are traceable, the sensor calibration results are also traceable, facilitating comparison and verification under different personnel's testing. This allows for a deeper understanding of sensor performance and ensures the stable and reliable operation of the sensor calibration system.

[0028] In one possible implementation of the first aspect, if the distance error between at least two of the multiple sensors and the excitation vibration source is greater than a preset threshold, the parameter information of the excitation vibration source also includes the distance between each sensor and the excitation vibration source.

[0029] By implementing the above method and calibrating the sensor using the distance between the sensor and the excitation vibration source as a parameter, different distances can simulate the intensity and characteristics of the vibration signal received by the sensor when it is in different positions in actual applications. This makes the calibration more closely resemble real-world scenarios and improves the accuracy and reliability of the sensor's measurements under various working environments. It also helps to observe the sensor's response capability to vibration sources at different distances, providing a basis for sensor error analysis and compensation.

[0030] In one possible implementation of the first aspect, the calibration device is further configured to acquire reference response data at multiple locations, wherein the multiple locations are fixed positions of the multiple sensors on the test substrate, and the reference response data are measured by a standard sensor under vibration; the calibration device is specifically configured to: calibrate the multiple sensors based on the reference response data at the multiple locations and the vibration response data corresponding to the multiple sensors, and obtain calibration data for each sensor.

[0031] For example, the measurement accuracy of a standard sensor is greater than that of the sensor to be calibrated. A standard sensor may be, for example, an accelerometer or a laser vibrometer.

[0032] By implementing the above method and combining it with vibration response data from a more accurate sensor, the sensor is calibrated. This means that the precise measurement capabilities of the standard sensor provide an accurate reference benchmark for the sensor to be calibrated. By placing the sensor to be calibrated and the standard sensor in the same vibration environment and comparing their vibration response data, the measurement deviation and error range of the sensor can be determined more accurately. This allows for targeted calibration and correction, effectively improving the measurement accuracy and reliability of the low-precision sensor. This calibration method fully utilizes the stability and repeatability advantages of the standard sensor, helping it achieve more stable and consistent measurements under different operating conditions. This enables it to better meet the accuracy requirements of practical applications and can, to some extent, save the cost of replacing or upgrading all sensors.

[0033] In one possible implementation of the first aspect, multiple sensors are fixedly mounted on the test substrate by at least one of the following methods: adhesive bonding, snap-fit ​​bonding, magnetic bonding, and screw bonding.

[0034] Implementing the above methods makes sensor installation and removal relatively convenient. Specifically, using adhesive and magnetic connections to fix the sensor will not damage the test substrate; using snap-fit ​​or screw connections ensures a tight and stable connection, allowing the sensor to remain fixed even under significant vibration.

[0035] In one possible implementation of the first aspect, the shape of the test substrate is associated with the mounting locations of multiple sensors on the vehicle.

[0036] For example, when the sensor is installed at the front of the vehicle, the test substrate is generally circular, fan-shaped, or other curved shapes; when the sensor is installed on a door, since doors are relatively square, the test substrate can be square or other polygonal shapes. In some solutions, the material and thickness of the test substrate can also be the same as the material and thickness of the part of the sensor installed on the vehicle.

[0037] By implementing the above method, the shape of the test substrate is associated with the installation position of the sensor on the vehicle, so that the shape of the test substrate matches the shape of the part where the sensor is installed on the vehicle. In this way, when calibrating the sensor, the data collected by the sensor is closer to the data collected by the sensor at a specific part of the vehicle under actual working conditions. Thus, the calibration results of the sensor can better fit the actual working environment of the sensor and enhance its applicability.

[0038] In one possible implementation of the first aspect, the plurality of sensors include a first sensor, and the control device is further configured to calibrate the calibration data of the first sensor using a first calibration coefficient associated with the deployment location of the first sensor on the vehicle.

[0039] For example, the first calibration factor is set based on expert experience or the system default setting.

[0040] By implementing the above method, since there are differences in vibration characteristics, temperature distribution, electromagnetic environment, etc. in different parts of the vehicle, the measurement results of sensors at different installation positions in the vehicle may be biased. By using calibration coefficients associated with the installation position, adjustments can be made for the influencing factors at these specific positions, making the sensor measurements more accurate. As a result, sensors at different positions can provide more reliable measurement data, improving the calibration accuracy and measurement precision of the sensors.

[0041] Secondly, this application provides a sensor calibration method. The calibration method is applied to a calibration device in a sensor calibration system. The sensor calibration system further includes an excitation vibration source and a test substrate. The excitation vibration source is fixedly connected to the test substrate and is used to cause the test substrate to vibrate. The calibration method includes: first, acquiring vibration response data of each of a plurality of sensors under vibration; and calibrating the plurality of sensors based on the vibration response data to obtain calibration data for each sensor. The type of the excitation vibration source differs from the type of the sensor, and the plurality of sensors are fixedly mounted on the test substrate.

[0042] In the above method, the test substrate is vibrated by an excitation vibration source. Parallel calibration of multiple sensors is achieved based on the vibration response data collected by multiple sensors on the test substrate under the same vibration, thus improving the calibration efficiency. The sensor calibration system uses an excitation vibration source different from the sensor type to vibrate the test substrate. While detecting vibration signals, it also achieves optimized design of the excitation vibration source based on actual working conditions. This allows for a more realistic simulation of the actual working conditions under which the sensor is used, making the test results and sensor calibration results more practically valuable and improving the calibration accuracy of the sensor.

[0043] In one possible implementation of the second aspect, the plurality of sensors include a first sensor, and the calibration method further includes: determining a preset range, the preset range being associated with the usage requirements of the first sensor; and determining whether the first sensor meets the quality requirements based on the calibration data of the first sensor and the preset range.

[0044] By implementing the above method and using the sensor's calibration data to perform quality testing on the sensor, it is possible to accurately determine whether the sensor meets the quality requirements, promptly identify problems with the sensor in terms of sensitivity, linearity, etc., and ensure its stable and reliable performance.

[0045] In one possible implementation of the second aspect, the plurality of sensors mentioned above includes a first sensor, and the calibration method further includes: acquiring sensitivity standard information; and obtaining the sensitivity calibration coefficient of the first sensor based on the calibration data of the first sensor and the sensitivity standard information.

[0046] By implementing the above method, the sensor's sensitivity is calibrated using the sensor's calibration data. The calibrated sensor can more accurately capture signal changes, reduce measurement errors, and provide high-quality data support for subsequent data processing and analysis, thereby better meeting the stringent performance requirements of various practical application scenarios.

[0047] For the beneficial effects of any feature in the second aspect below, please refer to the description of the beneficial effects of the corresponding feature in the first aspect, which will not be repeated here.

[0048] In one possible implementation of the second aspect, the calibration method further includes: acquiring parameter information of the excitation vibration source, the parameter information including the amplitude and frequency of the excitation signal; calibrating multiple sensors according to the vibration response data corresponding to multiple sensors, and obtaining calibration data for each sensor, including: calibrating multiple sensors according to the parameter information of the excitation vibration source and the vibration response data corresponding to multiple sensors, and obtaining calibration data for each sensor.

[0049] In one possible implementation of the second aspect, if the distance error between at least two of the aforementioned sensors and the excitation vibration source is greater than a preset threshold, the parameter information of the excitation vibration source also includes the distance between each sensor and the excitation vibration source.

[0050] In one possible implementation of the second aspect, the calibration method further includes: acquiring reference response data at multiple locations, wherein the multiple locations are fixed positions of multiple sensors on a test substrate, and the reference response data are measured by a standard sensor under vibration; calibrating the multiple sensors based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor, including: calibrating the multiple sensors based on the reference response data at multiple locations and the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor.

[0051] In one possible implementation of the second aspect, the plurality of sensors include a first sensor, and the calibration method further includes calibrating the calibration data of the first sensor using a first calibration coefficient, the first calibration coefficient being associated with the deployment location of the first sensor on the vehicle.

[0052] In one possible implementation of the second aspect, the sensor calibration system is the sensor calibration system described in the first aspect or any possible implementation of the first aspect.

[0053] Thirdly, this application provides a calibration device, which belongs to a sensor calibration system. The sensor calibration system further includes an excitation vibration source and a test substrate. The excitation vibration source is fixedly connected to the test substrate and is used to cause the test substrate to vibrate. The calibration device includes: a communication unit for acquiring vibration response data of each of a plurality of sensors under vibration, wherein the plurality of sensors are fixedly mounted on the test substrate; and a processing unit for calibrating the plurality of sensors according to the vibration response data corresponding to the plurality of sensors to obtain calibration data for each sensor, wherein the type of the excitation vibration source is different from the type of the sensor.

[0054] In one possible implementation of the third aspect, the plurality of sensors include a first sensor, and the processing unit is further configured to: determine a preset range, the preset range being associated with the usage requirements of the first sensor; and determine whether the first sensor meets the quality requirements based on the calibration data of the first sensor and the preset range.

[0055] In one possible implementation of the third aspect, the plurality of sensors include a first sensor, and the communication unit is further configured to acquire sensitivity standard information; the processing unit is further configured to: obtain the sensitivity calibration coefficient of the first sensor based on the calibration data of the first sensor and the sensitivity standard information.

[0056] In one possible implementation of the third aspect, the communication unit is further used to acquire parameter information of the excitation vibration source, including the amplitude and frequency of the excitation signal; the processing unit is specifically used to calibrate the multiple sensors according to the parameter information of the excitation vibration source and the vibration response data corresponding to the multiple sensors, and obtain calibration data for each sensor.

[0057] In one possible implementation of the third aspect, if the distance error between at least two of the aforementioned sensors and the excitation vibration source is greater than a preset threshold, the parameter information of the excitation vibration source also includes the distance between each sensor and the excitation vibration source.

[0058] In one possible implementation of the third aspect, the communication unit is further configured to acquire reference response data at multiple locations, wherein the multiple locations are fixed positions of multiple sensors on the test substrate, and the reference response data are measured by a standard sensor under vibration; the processing unit is specifically configured to: calibrate the multiple sensors based on the reference response data at these multiple locations and the vibration response data corresponding to these multiple sensors, and obtain calibration data for each sensor.

[0059] In one possible implementation of the third aspect, the plurality of sensors include a first sensor, and the processing unit is further configured to: calibrate the calibration data of the first sensor using a first calibration coefficient, the first calibration coefficient being associated with the deployment location of the first sensor on the vehicle.

[0060] In one possible implementation of the third aspect, the sensor calibration system is the sensor calibration system described in the first aspect or any possible implementation of the first aspect.

[0061] Fourthly, this application provides an apparatus for sensor calibration, the apparatus including a processor and a memory, wherein the memory is used to store program instructions; the processor invokes the program instructions in the memory to cause the apparatus to execute the method in the second aspect or any possible implementation of the second aspect.

[0062] Fifthly, this application provides a computer-readable storage medium including computer instructions that, when executed by a processor, implement the method in the second aspect or any possible implementation thereof.

[0063] Sixthly, this application provides a computer program product that, when executed by a processor, implements the methods described in the second aspect or any possible embodiment of the second aspect. The computer program product may, for example, be a software installation package. When the methods provided by any possible design of the second aspect are required, the computer program product can be downloaded and executed on a processor to implement the methods described in the second aspect or any possible embodiment of the second aspect. Attached Figure Description

[0064] Figure 1 is a schematic diagram of a data processing system provided in an embodiment of this application;

[0065] Figure 2A is a schematic diagram of a number of sensors arranged in a ring on a test substrate according to an embodiment of this application;

[0066] Figure 2B is a schematic diagram showing that some of the multiple sensors provided in the embodiments of this application are arranged in a ring on the test substrate;

[0067] Figure 3 is a schematic diagram of some sensors provided in the embodiments of this application being fixed on a test substrate;

[0068] Figure 4 is a schematic diagram showing the positions of some sensors and vibration excitation sources provided in the embodiments of this application;

[0069] Figure 5 is a schematic diagram showing the positions of a sensor and a vibration excitation source according to an embodiment of this application;

[0070] Figure 6A is a schematic diagram of the structure of an excitation vibration source provided in an embodiment of this application;

[0071] Figure 6B is a schematic diagram of another excitation vibration source provided in an embodiment of this application;

[0072] Figure 7A is a schematic diagram of another excitation vibration source provided in an embodiment of this application;

[0073] Figure 7B is a schematic diagram of another excitation vibration source provided in an embodiment of this application;

[0074] Figure 8 is a flowchart of a sensor calibration method provided in an embodiment of this application;

[0075] Figure 9 is a schematic diagram of a calibration device provided in an embodiment of this application;

[0076] Figure 10 is a schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0077] In this scheme, prefixes such as "first" and "second" are used solely to distinguish different descriptive objects and do not impose any restrictions on the position, order, priority, quantity, or content of the described objects. For example, if the described object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the modified "fields" are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the described object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority of the "levels." Furthermore, the number of described objects is not limited by prefixes; it can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device," then "first device" and "second device" can be the same device, devices of the same type, or devices of different types. Similarly, if the object being described is "information," then "first information" and "second information" can be information with the same content or information with different content. In summary, the use of prefixes to distinguish the objects being described in the embodiments of this application does not constitute a limitation on the objects being described. The description of the objects being described is based on the claims or the context of the embodiments, and should not constitute an unnecessary limitation due to the use of such prefixes.

[0078] To facilitate understanding, the relevant terms that may be involved in the embodiments of this application will be introduced below.

[0079] (1) Piezoelectric exciter

[0080] A piezoelectric actuator is a device that uses the inverse piezoelectric effect of piezoelectric materials to convert electrical energy into mechanical energy. Piezoelectric actuators can generate high-frequency, high-precision micro-displacement or force.

[0081] Piezoelectric materials are crystalline materials that exhibit a voltage between their two ends when subjected to pressure. They can generate an electric field through mechanical deformation or undergo mechanical deformation due to an electric field. Examples of piezoelectric materials include piezoelectric ceramics, piezoelectric crystals (such as quartz crystals, lithium gallium oxide, lithium germanate, titanium germanate, etc.), and piezoelectric thin films.

[0082] The inverse piezoelectric effect refers to the mechanical deformation that occurs when piezoelectric materials (such as piezoelectric ceramics) are subjected to an electric field. Piezoelectric actuators operate based on this principle; when an alternating voltage is applied to a piezoelectric material, the material will produce corresponding mechanical vibrations or displacements.

[0083] As an example, a piezoelectric actuator includes a piezoelectric element, electrodes, a mechanical connector, and a housing, wherein the piezoelectric element is used to generate mechanical motion; the electrodes are used to apply an electric field; the mechanical connector transmits the mechanical vibration of the piezoelectric element to an external load; and the housing is used to protect and secure the internal components.

[0084] (2) Electric motor

[0085] An electric motor, also known as an electric motor, is a device that converts electrical energy into mechanical energy.

[0086] As an example, an electric motor includes a stator and a rotor. The stator generates a stable magnetic field and provides mechanical support for the motor, while the rotor rotates under the influence of forces within the magnetic field generated by the stator to output mechanical energy. For instance, the stator typically consists of an iron core and windings. The iron core is usually made of laminated silicon steel sheets to reduce eddy current losses; the windings are made of copper or aluminum wire and generate a magnetic field when current is passed through them. The rotor typically consists of an iron core, windings, and a shaft. The iron core is also made of laminated silicon steel sheets, while the windings vary depending on the type of motor.

[0087] For example, according to the power supply, electric motors can be classified into DC motors or AC motors, and AC motors can be further classified into single-phase motors and three-phase motors; according to the operating speed, electric motors can be classified into high-speed motors, low-speed motors, constant-speed motors, variable-speed motors, etc.

[0088] (3) Vibration test bench

[0089] A vibration test bench, also known as a vibration generator, is a device that simulates vibration. Examples of vibration test benches include acceleration vibration benches and standard vibration benches.

[0090] As an example, the vibration test bench includes a table, a drive system, and a control system. The table is used to mount the test structure or component (such as the test substrate in this embodiment), the drive system is used to generate the required vibration on the table, and the control system is used to control parameters such as the amplitude, frequency, and duration of the vibration.

[0091] The terms above may optionally be applied in the following embodiments.

[0092] This solution provides a data processing system that enables efficient calibration of structure acoustic sensors and improves calibration accuracy.

[0093] The composition of the data processing system is described below with reference to Figure 1. Referring to Figure 1, Figure 1 is a schematic diagram of a data processing system provided in an embodiment of this application. As shown in Figure 1, the data processing system 10 includes a sensor calibration system 11 and multiple sensors, each of which is a structure acoustic sensor. The sensor calibration system 11 includes a calibration device, an excitation vibration source, and a test substrate. The excitation vibration source is fixedly connected to the test substrate, and the fixing method includes, but is not limited to, adhesive bonding, snap-fit ​​bonding, screw bonding, bolt bonding, etc. The calibration device and the excitation vibration source are connected and communicate wirelessly or via a wired connection.

[0094] Here, the excitation vibration source is used to vibrate the test substrate. Exemplarily, the excitation vibration source can be a loudspeaker, a piezoelectric exciter, an electric motor, a vibration test bench, a fixture assembly for vibrating the test substrate, or other similar devices. Exemplarily, the fixture assembly vibrates the test substrate by striking it, or by free fall.

[0095] As an example, the excitation vibration source integrates a control device. This control device can set the parameters of the excitation signal, and the excitation vibration source vibrates the test substrate based on these parameters, and then sends the set parameters to a calibration device. The parameters set by the control device for the excitation signal vary depending on the type of excitation vibration source. In some solutions, the control device can also be set independently of the excitation vibration source.

[0096] For example, when the excitation vibration source is a loudspeaker, piezoelectric exciter, electric motor, or vibration test bench, the parameters for setting the excitation signal include the frequency, amplitude, and waveform type (e.g., square wave, sine wave, etc.). The frequency characteristics of the excitation signal can be single-frequency, swept-frequency, or multi-frequency superposition.

[0097] For example, when the excitation vibration source is a tooling assembly that causes the test substrate to vibrate, and the working assembly vibrates the test substrate by striking or free fall, the parameters of the excitation signal include information such as the mass, velocity, and impact position of the impact ball.

[0098] Here, the aforementioned multiple sensors are placed on the test substrate, which transmits its own vibrations to the sensors, which are fixedly mounted on the test substrate. For example, the test substrate can be made of metal, carbon fiber, polytetrafluoroethylene, etc.

[0099] Each of the multiple sensors is used to collect vibration response data when the test substrate vibrates, and to transmit the collected vibration response data to the calibration device. The multiple sensors communicate with the calibration device wirelessly or via wired connection.

[0100] For example, based on their working principles, sensors can be classified into piezoelectric sensors, capacitive sensors, and optical sensors. Piezoelectric sensors utilize the piezoelectric effect of piezoelectric materials; when a structure vibrates or is subjected to sound waves, the piezoelectric material generates an electric charge, converting mechanical energy into electrical energy to measure structural sound. Capacitive sensors are based on the principle of capacitance change; when structural vibration causes changes in the spacing or area of ​​the sensor's capacitor plates, the capacitance value changes accordingly, and structural sound is detected by measuring this capacitance change. Optical sensors (such as fiber optic sensors) utilize the propagation characteristics of light in optical fibers; when structural sound causes deformation or stress in the fiber, parameters such as the phase, intensity, and wavelength of the light change, and structural sound is measured by detecting these changes in optical parameters.

[0101] The aforementioned sensors generally employ the same operating principle. For example, all of them may be piezoelectric sensors, or they may all be capacitive sensors. These sensors can originate from the same manufacturer or different manufacturers. Sensors with the same operating principle convert vibration signals into electrical signals or other measurable signals based on the same physical mechanism, possessing unified measurement standards and characteristics, facilitating subsequent data processing and analysis. Furthermore, sensors with different operating principles may be sensitive to different aspects of vibration or have different measurement accuracies, thus eliminating errors caused by differences in operating principles.

[0102] Here, the calibration device is a device with computing capabilities, such as a chip or processor. For example, the calibration device is used to calibrate the multiple sensors based on their corresponding vibration response data, obtaining calibration data for each sensor. This calibration data can be used for sensor quality testing, sensor sensitivity calibration, etc.

[0103] The data processing system shown in Figure 1 can be applied to a variety of application scenarios, such as the following: mobile internet (MI), industrial control, self-driving, transportation safety, and the Internet of Things (IoT).

[0104] The data processing system shown in Figure 1 can be applied to various network types, such as one or more of the following: SparkLink, Long Term Evolution (LTE) networks, 5th generation mobile communication technology (5G), wireless local area networks (e.g., Wi-Fi), Bluetooth (BT), Zigbee, or vehicular short-range wireless communication networks, etc.

[0105] It is understood that Figure 1 is merely an exemplary architecture diagram of a data processing system. In some embodiments, where the control device is set independently of the excitation vibration source, the data processing system 10 may also include the control device. In some embodiments, to further improve the calibration accuracy of the sensor, the data processing system 10 may also include a standard sensor, which may be a high-precision sensor such as an accelerometer or a laser vibrometer. When the excitation vibration source is fixed and the vibration intensity is the same, the vibration response data collected by the standard sensor can be used as reference response data to improve the calibration accuracy of the sensor.

[0106] The following describes the structure of the calibration processing system.

[0107] In one implementation, the test substrate is axially symmetric or centrally symmetric. For example, the test substrate can be a circle, square, rectangle, rhombus, equilateral triangle, regular hexagon, regular dodecagon, etc. This allows the test substrate to distribute the force more evenly across its various parts when subjected to external forces, reducing stress concentration. In the vibration testing applied to this solution, a symmetrical test substrate ensures more uniform force distribution on the sensor, resulting in more accurate vibration response data output and preventing increased measurement errors or even damage to the sensor due to excessive localized stress. Furthermore, a symmetrical test substrate is simpler to manufacture, reducing production costs and increasing efficiency, and is also easier to install and fix during use.

[0108] For example, the shape of the test substrate is associated with the mounting location of multiple sensors on the vehicle. For instance, when the sensor is mounted at the front of the vehicle, the test substrate is typically circular, fan-shaped, or other curved. When the sensor is mounted on a door, since doors are relatively square, the test substrate can be square or other polygonal shapes. In some solutions, the material and thickness of the test substrate can also be the same as the material and thickness of the location where the sensor is mounted on the vehicle. Thus, the shape of the test substrate matches the shape of the location where the sensor is mounted on the vehicle. When calibrating the sensor, the data collected by the sensor is closer to the data collected by the sensor at a specific location on the vehicle under actual working conditions. Therefore, the calibration results of the sensor are more closely aligned with the actual working environment of the sensor, resulting in strong applicability.

[0109] In one implementation, the distance between each of the multiple sensors and the excitation vibration source is within a preset range. Specifically, the distance between each sensor and the excitation vibration source can be equal or have a small error. This configuration ensures that the vibration of the test substrate caused by the excitation vibration source travels to each sensor along the same path length, resulting in high consistency and comparability of the received vibration signals in terms of time and intensity. This facilitates subsequent analysis and processing of data collected by multiple sensors, improving data reliability and accuracy, and also facilitating calibration and error compensation. Furthermore, multiple equally spaced sensors can form a sensor array. Based on information such as the time difference or phase difference of the vibration signal arriving at each sensor, the spatial location of the excitation vibration source can be more accurately determined.

[0110] Furthermore, the aforementioned sensors are arranged in a ring on the test substrate.

[0111] Referring to Figure 2A, Figure 2A is a schematic diagram of multiple sensors arranged in a ring on a test substrate according to an embodiment of this application. In Figure 2A(1) and Figure 2A(2), the light color represents the test substrate, which is circular in shape, and the dark circle represents the sensor. These multiple sensors can be arranged in a ring along the edge of the test substrate, as shown in Figure 2A(1). In some embodiments, these multiple sensors can also be arranged in a ring in the central region of the test substrate, as shown in Figure 2A(2).

[0112] As can be seen from Figure 2A(1) and Figure 2A(2), the distance between any two adjacent sensors in the above-mentioned plurality of sensors is equal. In some embodiments, the distance between adjacent sensors in the above-mentioned plurality of sensors may also be different, for example, see Figure 2A(3). In some possible embodiments, when the plurality of sensors are arranged in a ring on the test substrate, the arrangement of the plurality of sensors may present multiple rings, for example, see Figure 2A(4), where the arrangement of the plurality of sensors on the test substrate presents two rings with the same center.

[0113] Referring to Figure 2B, Figure 2B is a schematic diagram of multiple sensors arranged in a ring on a test substrate according to embodiments of this application. In Figure 2B(1) and Figure 2B(2), the light color represents the test substrate, which is a regular dodecagon, and the dark circle represents the sensor. In Figure 2B(1), one sensor can be placed on each side of the regular dodecagon. For example, the sensor can be placed at the midpoint of each side, so there are 12 sensors corresponding to 12 positions, namely position 1, position 2, ..., position 12. In Figure 2B(2), multiple sensors can be placed on each side of the regular dodecagon, and the number of sensors placed on each side is the same. It can also be seen from Figure 2B(1) and Figure 2B(2) that these multiple sensors are arranged in a ring on the test substrate, and the distance between two adjacent sensors is the same. In some schemes, these multiple sensors can also be arranged in a manner similar to that shown in Figure 2A(3), that is, the distance between two adjacent sensors can be different.

[0114] Figures 2A and 2B above are merely examples of multiple sensors uniformly deployed on a test substrate. Both Figures 2A and 2B are top views of the sensors deployed on the test substrate. In some embodiments, the test substrate can be a symmetrical shape other than a circle or a regular dodecagon, and multiple sensors can be deployed in an array on the test substrate. In some embodiments, the deployment position of these multiple sensors on the test substrate is not limited; that is, the deployment of multiple sensors on the test substrate can be random, and the spacing between different sensors can be different or partially the same.

[0115] Furthermore, in Figures 2A and 2B, all of the aforementioned sensors are disposed on the same plane of the test substrate. In some embodiments, the aforementioned sensors may also be disposed on multiple planes of the test substrate; for example, if the test substrate is cylindrical, sensors may be disposed on both the upper and lower surfaces of the test substrate.

[0116] As can be seen from the above, these multiple sensors are fixedly mounted on the test substrate, and the fixing methods include one or more of the following: adhesive connection, snap-fit ​​connection, magnetic connection, bolt connection, and screw connection.

[0117] Here, adhesive bonding uses adhesives to fix the sensor to the test substrate. For example, the adhesive can be double-sided tape, acrylic adhesive, etc., which has the characteristics of both fixing and being peelable when not needed. The installation and removal of the sensor is very convenient, and adhesive bonding will not damage the test substrate or the sensor.

[0118] The snap-fit ​​connection utilizes the cooperation of snaps and slots to fix the sensor onto the test substrate. For example, the snap is typically a component made of elastic material with a certain degree of elastic deformation capability. It generally has a protrusion, hook, or other specially shaped structure that can mate with the slot. The slot is a groove or hole-like structure that matches the snap, designed on the component (e.g., the test substrate) to which it is connected. The shape and size of the slot precisely match the snap to ensure a tight and stable connection. In this solution, the size of one slot must be able to accommodate one sensor. In this case, the number of slots provided on the test substrate should be greater than or equal to the total number of sensors. This snap-fit ​​connection method is convenient for installation and sensor removal.

[0119] Magnetic connection uses the attraction of magnets to fix the sensor to the test substrate, making installation and removal very convenient and enabling quick positioning and fixation of the sensor. At the same time, magnetic connection does not damage the test substrate or the sensor, nor does it generate additional stress concentration. However, it has certain requirements regarding vibration intensity, as greater vibration intensity may cause the sensor to loosen.

[0120] Bolted connections use bolts, nuts, and washers to fix the sensor to the test substrate, and are a detachable connection method. The bolt consists of a head and a shank; the head can be hexagonal, square, or other shapes, and the shank has external threads that mate with the internal threads of the nut. Washers are placed between the bolt head and the connected parts to prevent damage to the surface of the connected parts. Screw connections, on the other hand, involve directly screwing a screw into the threaded hole of the connected part, using the interlocking threads of the screw and the threaded hole of the connected part to achieve the connection.

[0121] Referring to Figure 3, Figure 3 is a schematic diagram of some sensors fixed on the test substrate according to the embodiments of this application. In Figure 3 (1), the sensor is fixed by means of double-sided tape, with one side of the double-sided tape tightly attached to the sensor and the other side of the double-sided tape tightly attached to the test substrate; In Figure 3 (2), the sensor is fixed by means of snap-fit ​​connection. Specifically, when the sensor is placed into the slot by external force, the snap-fit ​​is pressed into the slot. The snap-fit ​​deforms under the action of elasticity. After the sensor enters the slot, it returns to its original shape, thereby realizing the fixed connection between the sensor and the test substrate; In Figure 3 (3), the sensor is fixed by means of bolt connection. The screw is passed through the holes at both ends of the sensor and screwed into the threaded hole of the test substrate. The screw thread and the threaded hole of the test substrate cooperate with each other to realize the fixed connection of the sensor.

[0122] In one implementation, when the excitation vibration source is a loudspeaker, a piezoelectric exciter, or an electric motor, the fixed connection between the excitation vibration source and the test substrate means that the excitation vibration source is fixedly mounted on the test substrate. As an example, the aforementioned multiple sensors are deployed around the excitation vibration source on the test substrate, with each sensor at an equal distance from the excitation vibration source.

[0123] Referring to Figure 4, which is a schematic diagram of the positions of some sensors and vibration excitation sources provided in the embodiments of this application. In Figure 4(1), the excitation vibration source is a loudspeaker, which is located at the center of the test substrate, and the distance between each sensor and the loudspeaker is equal. When the loudspeaker plays audio, it causes the test substrate to vibrate, and the intensity of the vibration experienced at each sensor is the same. In Figure 4(2), the excitation vibration source is a piezoelectric exciter, which is located at the center of the test substrate, and the distance between each sensor and the piezoelectric exciter is equal. The piezoelectric exciter can generate mechanical vibration of a fixed intensity based on the excitation signal to make the test substrate vibrate, and the intensity of the vibration experienced at each sensor is the same. In Figure 4(3), the excitation vibration source is an electric motor, which is located at the center of the test substrate, and the distance between each sensor and the electric motor is equal. The electric motor can generate mechanical vibration of a fixed intensity based on the excitation signal to make the test substrate vibrate, and the intensity of the vibration experienced at each sensor is the same.

[0124] In one implementation, when the excitation vibration source is a vibration test bench, the fixed connection between the excitation vibration source and the test substrate means that the test substrate is fixedly set on the vibration test bench.

[0125] Referring to Figure 5, which is a schematic diagram of the positions of a sensor and a vibration excitation source according to another embodiment of this application, the excitation vibration source is a vibration test bench, and the test substrate is fixedly mounted on the table surface of the vibration test bench. Taking an acceleration vibration table as an example, the acceleration vibration table can generate mechanical vibration of a fixed intensity based on the excitation signal. The vibration direction of the acceleration vibration table can be unidirectional, such as simulating the vibration of the test substrate in the X-axis, Y-axis, or Z-axis direction; the vibration direction can also be multidirectional, such as simulating the vibration of the test substrate in multiple directions among the X-axis, Y-axis, and Z-axis.

[0126] For example, the excitation signal of an acceleration vibration table can be a single-frequency signal, a swept-frequency signal, or a multi-frequency superimposed signal. A single-frequency signal refers to an excitation signal containing only one specific frequency; for example, the acceleration vibration table vibrates at a fixed frequency of 50Hz. A swept-frequency signal refers to an excitation signal whose frequency changes continuously within a certain range according to a certain pattern; for example, the frequency can change linearly from 10Hz to 100Hz, or it can change according to a logarithmic law. A multi-frequency superimposed signal refers to an excitation signal composed of multiple sinusoidal signals of different frequencies superimposed; for example, an excitation signal may contain multiple frequency components such as 20Hz, 50Hz, and 100Hz.

[0127] In another implementation, the excitation vibration source includes a support channel and an impact ball. The first end of the support channel is positioned above the test substrate, and the second end of the support channel serves as the entry end of the impact ball, which falls from the first end of the support channel to impact the test substrate.

[0128] For example, the impact ball can be a metal impact ball (such as a steel ball, a copper ball, etc.), a wooden impact ball, a rubber impact ball, etc.

[0129] Referring to Figure 6A, which is a schematic diagram of an excitation vibration source according to an embodiment of this application, the excitation vibration source includes a support channel 60 and an impact ball 61. The support channel 60 includes at least a first end and a second end, wherein the second end serves as the entry end of the impact ball 61, and the first end serves as the exit end of the impact ball 61. In use, the support channel 60 is fixedly placed on a table, and the test substrate can also be placed on the table. Both the first end and the second end of the support channel 60 are positioned directly above the test substrate. Exemplarily, when the impact ball 61 enters through the second end of the support channel 60, it begins free fall and continues free fall from the first end of the support channel 60 until it falls onto the impact point on the test substrate, causing the test substrate to vibrate. The impact point is the center position of the test substrate. Here, the movement trajectory of the impact ball 61 in the support channel 60 is shown by the dashed line with arrows in Figure 6A. In this case, the impact force generated when the impact ball falls can be changed by changing parameters such as the mass of the impact ball and the speed of the impact ball (i.e., changing the vertical height of the second end of the support channel 60 from the test substrate), thereby changing the vibration intensity of the test substrate.

[0130] It is understood that Figure 6A is only an exemplary structure of a vibration excitation source that generates impact force by free fall to make the test substrate vibrate. In some schemes, the structure of the vibration excitation source that generates impact force by free fall to make the test substrate vibrate can also be as shown in Figure 6B.

[0131] Referring to Figure 6B, which is a schematic diagram of another excitation vibration source provided in an embodiment of this application, the excitation vibration source includes a support channel 60 and an impact ball 61. The support channel 60 includes at least a first end and a second end, wherein the second end serves as the entry end of the impact ball 61, and the first end serves as the exit end of the impact ball 61. In use, the support channel 60 is fixedly placed on a table, and the test substrate can also be placed on the table. The second end of the support channel 60 is positioned directly above the test substrate. Based on the shape of the support channel 60 shown in Figure 6B, it can be seen that after the impact ball 61 enters from the second end of the support channel 60, it first undergoes a free fall motion, then slides down to the first end of the support channel 60 under the action of gravity, and finally exits from the first end, undergoing a free fall motion until it falls onto the collision point on the test substrate, causing the test substrate to vibrate. The collision point is the center position of the test substrate. Here, the movement trajectory of the impact ball 61 in the support channel 60 is shown by the dashed line with arrows in Figure 6B.

[0132] Here, Figure 6B is only an example of a structure for exciting vibration sources.

[0133] In another implementation, the excitation vibration source includes a connecting rod and a striking head, wherein the striking head is mounted on the connecting rod, and the excitation vibration source is used to control the movement of the connecting rod to drive the striking head to strike the test substrate. For example, this movement can be left-right swinging, up-down movement, etc.

[0134] For example, the connector and the striking head can be made of at least one of metal, wood, rubber, etc.

[0135] For example, the shape of the impact head can be spherical, such as a steel ball, a rubber ball, etc.

[0136] Referring to Figure 7A, which is a schematic diagram of another excitation vibration source provided in an embodiment of this application, the excitation vibration source includes a connecting rod 70 and a striking head 71. One end of the connecting rod 70 is connected to a bearing, and the other end of the connecting rod 70 is provided with the striking head 71. In use, the test substrate can be fixedly placed perpendicular to the horizontal plane, one end of the connecting rod 70 is fixed above the test substrate, and the other end of the connecting rod 70 can swing. For example, the connecting rod 70 moves towards a plane of the test substrate under the control of the bearing, and the striking head 71 strikes a striking position on the plane of the test substrate with the movement of the connecting rod 70 to make the test substrate vibrate. The striking position is the center position of the test substrate, and the striking direction of the striking head 71 is shown in Figure 7A. In this case, the impact force of the striking head can be changed by changing parameters such as the mass of the striking head and the striking speed of the striking head (i.e., changing the distance between the striking head and the test substrate), thereby changing the vibration intensity of the test substrate.

[0137] Figure 7A is merely an exemplary structure of a vibration excitation source for generating force by striking to cause the test substrate to vibrate. As can be seen from Figure 7A, the movement direction of the connecting rod 70 is horizontal. In some embodiments, the movement direction of the connecting rod 70 can be vertical, and the structure of the vibration excitation source for generating force by striking to cause the test substrate to vibrate can be as shown in Figure 7B.

[0138] Referring to Figure 7B, which is a schematic diagram of an excitation vibration source provided in an embodiment of this application, the excitation vibration source includes a connecting rod 70, a striking head 71, a movable support 72, and a control device 73. One end of the movable support 72 is slidably connected to the control device 73, and the other end of the movable support 72 is fixedly connected to the connecting rod 70. The striking head 71 is fixedly mounted on one end of the connecting rod 70. In use, the test substrate is placed horizontally on a table, and the excitation vibration source is fixedly mounted on the table. The control device 73 controls the movable support 72 to move vertically. Since the connecting rod 70 is fixedly connected to the movable support 72, the connecting rod 70 also moves vertically with the movable support 72, thereby driving the striking head 71 to strike the striking position on the test substrate to make the test substrate vibrate. The striking position is the center position of the test substrate, and the striking direction of the striking head 71 is shown in Figure 7B. In some embodiments, the movable support 72 is telescopic, which can accommodate test substrates of different sizes.

[0139] It is understood that Figure 7B is only an example of a structure that excites the vibration source.

[0140] The sensor calibration method provided in this solution is described below in conjunction with the device described above.

[0141] Referring to Figure 8, which is a flowchart of a sensor calibration method provided in an embodiment of this application, this method can be applied to the data processing system shown in Figure 1 above, specifically for use between a calibration device, an excitation vibration source, and multiple sensors. The method shown in Figure 8 includes, but is not limited to, the following steps:

[0142] S801: The calibration device acquires vibration response data corresponding to multiple sensors from multiple sensors.

[0143] For example, multiple sensors include sensor 1, ..., sensor N, where N is an integer greater than 1. The test substrate can be vibrated by any of the devices shown in Figures 4, 5, 6A, 6B, 7A, and 7B. The test substrate transmits the vibration to multiple sensors fixedly connected to itself. Each sensor collects its own vibration response data under the vibration. The vibration response data collected by sensor i under the vibration can be called the vibration response data corresponding to sensor i, where i is a positive integer less than or equal to N.

[0144] In one implementation, taking multiple sensors including sensor 1, ..., sensor N as an example, the control device acquires vibration response data corresponding to these multiple sensors from the multiple sensors, including: the control device receiving vibration response data corresponding to sensor 1 from sensor 1, receiving vibration response data corresponding to sensor 2 from sensor 2, ..., and receiving vibration response data corresponding to sensor N from sensor N.

[0145] For example, the vibration response data corresponding to each sensor can be time-domain data, frequency-domain data, or a combination of both. The vibration response data corresponding to the sensor corresponds to at least one frequency and at least one amplitude of the excitation signal. The excitation signal comes from an excitation vibration source. A frequency and an amplitude constitute an excitation condition. Under each excitation condition, the sensor collects corresponding vibration response data.

[0146] For example, when the vibration response data corresponding to the sensor is time-domain data, the vibration response data corresponding to the sensor includes the amplitude of the sensor's vibration response signal at multiple sampling points in the time domain.

[0147] Taking sensor 1 as an example, when expressed in the time domain, the vibration response data corresponding to sensor 1 is expressed as follows: Where n represents the number of samples, This represents the amplitude obtained by sensor 1 in the first sampling in the time domain. This represents the amplitude obtained by sensor 1 in the second sampling in the time domain, ..., This represents the amplitude obtained by sensor 1 at the nth sampling in the time domain. Similarly, in the time domain, the vibration response data corresponding to sensor 2 is represented as... …, the vibration response data corresponding to sensor N is expressed as…

[0148] Here, vibration response signal refers to the dynamic change process of physical quantities (such as voltage, capacitance, current, charge, or displacement) that occur when a test substrate is excited by a vibration source, and these quantities change with time or space. It is described by continuous vibration characteristic information (such as amplitude, frequency, and phase). Vibration response data is a series of discrete numerical information obtained by sampling and quantizing the vibration response signal. These numerical values ​​represent the specific values ​​of physical quantities of the vibration system at a specific time or location, and are usually stored in digital form. In other words, vibration response data is a quantitative representation of the vibration response signal.

[0149] For example, when the vibration response data corresponding to the sensor is frequency domain data, the vibration response data includes the amplitude of the sensor's vibration response signal at multiple sampling points (also called frequency points) in the frequency domain, wherein the vibration response data corresponds to at least one frequency of the excitation signal. It can be understood that when the frequency characteristic of the aforementioned excitation signal is single-frequency, the vibration response data corresponds to one frequency of the excitation signal; when the frequency characteristic of the excitation signal is frequency sweep or multi-frequency, the vibration response data corresponds to multiple frequencies of the excitation signal.

[0150] Taking sensor 1 as an example, when representing data in the frequency domain, using a single frequency as an example, the vibration response data corresponding to sensor 1 is represented as follows: Where f represents the frequency corresponding to the vibration response data, and n represents the number of frequency points sampled. This represents the amplitude at the first frequency point sampled by sensor 1 at frequency f. This represents the amplitude at the second frequency point obtained by sensor 1 at frequency f, ..., This represents the amplitude at the nth frequency point sampled by sensor 1 at frequency f. Similarly, in the frequency domain, the vibration response data corresponding to sensor 2 is expressed as... …, the vibration response data corresponding to sensor N is expressed as…

[0151] In some solutions, if the frequency characteristic of the excitation signal is a frequency sweep, the frequency sweep includes a first frequency and a second frequency. Therefore, the vibration response data corresponding to sensor 1 includes first vibration response data and second vibration response data, where the first vibration response data corresponds to the first frequency, and the second vibration response data corresponds to the second frequency. For example, taking sensor 1 as an example, the first response data corresponding to sensor 1 is represented as follows: The second response data corresponding to sensor 1 is represented as follows Where f1 represents the first frequency and f2 represents the second frequency. For example, n represents the number of frequency points sampled. This represents the amplitude at the first frequency point obtained by sensor 1 sampling at frequency f1. This represents the amplitude at the second frequency point obtained by sensor 1 sampling at frequency f1, ..., This represents the amplitude at the nth frequency point obtained by sensor 1 sampling at frequency f1. You can refer to this. The description will not be repeated here.

[0152] Furthermore, at the same frequency of the excitation signal (e.g., the first frequency mentioned above), the excitation signal may also have multiple amplitudes. Therefore, the first vibration response data specifically includes the amplitude values ​​at multiple sampling points under each amplitude of the excitation signal. For example, these multiple amplitudes include a first amplitude A1 and a second amplitude A2. Assuming the first vibration response data corresponding to sensor 1 at the first frequency... The vibration response data under the first amplitude A1 includes Vibration response data under the second amplitude A2 include: j is an integer greater than 1 and less than n.

[0153] S802: The calibration device calibrates the multiple sensors based on the vibration response data corresponding to the multiple sensors, and obtains the calibration data of each sensor.

[0154] In one implementation, the plurality of sensors include a first sensor. The plurality of sensors are calibrated based on the vibration response data corresponding to the plurality of sensors to obtain calibration data for each sensor. This includes calibrating the first sensor based on the vibration response data corresponding to the first sensor to obtain calibration data for the first sensor.

[0155] As an example, the calibration of the first sensor is performed based on the vibration response data corresponding to the first sensor to obtain the calibration data of the first sensor, including: obtaining the calibration data of the first sensor by taking the maximum amplitude and the minimum amplitude from the vibration response data corresponding to the first sensor, wherein the calibration data of the first sensor is the difference between the maximum amplitude and the minimum amplitude.

[0156] It is understandable that the calibration data of the first sensor corresponds to the parameter information of the excitation signal corresponding to the vibration response data. For example, the reference information of the excitation signal indicates that the frequency of the excitation signal is 50Hz and the amplitude is A. Assuming that the difference between the maximum and minimum amplitude is Δa, then Δa is the calibration data of the first sensor under the excitation condition that the frequency of the excitation signal is 50Hz and the amplitude is A. In some schemes, the calibration data of the first sensor may also be the average value of each amplitude of the vibration response data corresponding to the first sensor or other statistical results.

[0157] Optionally, in some solutions, step S803 can also be performed: the calibration device receives parameter information from the excitation vibration source. For example, the parameter information of the excitation vibration source can come from the excitation vibration source itself, or it can come from the control device of the excitation vibration source. It can be understood that the parameter information of the excitation vibration source corresponds to the vibration response data of the aforementioned multiple sensors.

[0158] Here, the parameter information of the excitation vibration source includes the frequency and amplitude of the excitation signal. The number of frequencies and amplitudes can be one or more. In other words, the parameter information of the excitation vibration source indicates at least one excitation condition, each of which includes a frequency and an amplitude. In some schemes, the parameter information of the excitation vibration source also includes the waveform type (e.g., square wave, sine wave, etc.).

[0159] In some schemes, if the distance error between at least two of the above sensors and the excitation vibration source is greater than a preset threshold, the parameter information of the excitation vibration source includes not only the above information, but also the distance between each sensor and the excitation vibration source.

[0160] In this case, the first sensor is calibrated based on the vibration response data corresponding to the first sensor to obtain calibration data of the first sensor, including: calibrating the first sensor based on the parameter information of the excitation vibration source and the vibration response data corresponding to the first sensor to obtain calibration data of the first sensor.

[0161] As an example, the parameter information of the excitation vibration source is used to indicate at least one excitation condition. The first sensor is calibrated based on the parameter information of the excitation vibration source and the vibration response data corresponding to the first sensor to obtain calibration data. This includes: calculating the response amplitude of the first sensor under each excitation condition based on the data corresponding to each excitation condition in the vibration response data of the first sensor; and obtaining the calibration data of the first sensor based on each excitation condition and the response amplitude of the first sensor under each excitation condition. The calibration data of the first sensor is used to describe the functional relationship between the response amplitude of the first sensor and the excitation condition. That is, the calibration data of the first sensor is used to describe the functional relationship between the response amplitude of the first sensor and the frequency and / or amplitude of the excitation signal. Exemplarily, the functional relationship may be linear or nonlinear.

[0162] For example, the response amplitude of the first sensor under each excitation condition can be the mean, peak, RMS, peak-to-peak, etc.

[0163] For example, when the excitation conditions indicated by the parameters of the excitation vibration source have a fixed frequency but multiple amplitudes, the above calibration can yield a functional relationship between the response amplitude of the first sensor and the amplitude of the excitation signal; when the excitation conditions indicated by the parameters of the excitation vibration source have a fixed amplitude but multiple frequencies, the above calibration can yield a functional relationship between the response amplitude of the first sensor and the frequency of the excitation signal; when the excitation conditions indicated by the parameters of the excitation vibration source have multiple frequencies and multiple amplitudes, the above calibration can yield a functional relationship between the response amplitude of the first sensor and the frequency and amplitude of the excitation signal.

[0164] Furthermore, when at least two of the multiple sensors have a distance error greater than a preset threshold between them and the excitation vibration source, when the calibration data of the first sensor is obtained based on the reference information of the excitation vibration source and the vibration response data corresponding to the first sensor, the calibration data of the first sensor is also used to describe the functional relationship between the response amplitude of the first sensor and the distance between the sensor and the excitation vibration source.

[0165] In some solutions, when the parameter information of the excitation vibration source includes the waveform type, the above-mentioned calibration of the first sensor based on the parameter information of the excitation vibration source and the vibration response data corresponding to the first sensor to obtain the calibration data of the first sensor includes: obtaining target reference response data based on the parameter information of the excitation vibration source, the target reference response data including the amplitude of the excitation signal at multiple sampling points; and using a calibration algorithm to calculate the target reference response data and the vibration response data corresponding to the sensor to obtain the calibration data of the first sensor. Here, the calibration algorithm can be the average scaling factor method, curve fitting method, etc.

[0166] For example, when the calibration algorithm is the average scaling factor method, the calibration data of the first sensor is the average scaling factor, and its calculation process is as follows: For each sampling point, the scaling factor of each sampling point is calculated by formula (1); the average scaling factor is obtained based on the scaling factor of each sampling point.

[0167] in, The average scaling factor is represented by m, which represents the number of sampling points, and k is the average scaling factor. j A represents the scaling factor for the j-th sampling point. ref (j) represents the amplitude of the j-th sampling point in the target reference response data, A sen (j) represents the amplitude of the j-th sampling point in the vibration response data corresponding to the first sensor.

[0168] For example, when the calibration algorithm is curve fitting, the calibration data of the first sensor is the coefficients of the fitting function obtained through curve fitting. In some schemes, when the excitation signal involves multiple frequencies and multiple amplitudes, the calibration data of the first sensor under each excitation signal can be obtained in the above manner.

[0169] In some possible embodiments, to improve the calibration accuracy of the sensors, step S804 may be performed before executing S802: the control device acquires reference response data at multiple locations, wherein these multiple locations are fixed positions of multiple sensors on the test substrate, and the reference response data at these multiple locations are measured by a standard sensor under the same vibration of the test substrate. The reference response data at these multiple locations correspond to the vibration response data of the aforementioned multiple sensors.

[0170] For example, the measurement accuracy of the standard sensor is greater than that of the sensor to be calibrated, or the standard sensor is a pre-calibrated sensor.

[0171] For example, the plurality of sensors include a first sensor. The correspondence between the reference response data at the plurality of locations and the vibration response data corresponding to the plurality of sensors means that: if the first sensor is fixedly disposed at a first location on the test substrate, then the reference response data at the first location corresponds to the vibration response data corresponding to the first sensor.

[0172] Taking Figure 2B(1) as an example, the test substrate is a regular dodecagon, with a sensor placed at the midpoint of each side, resulting in a total of 12 sensors. These 12 sensors correspond to 12 positions, as shown in Figure 2B(1). These 12 positions are position 1, position 2, ..., position 12. Before calibrating these sensors, 12 fixed positions on the test substrate are predetermined for the sensors to be calibrated. In one implementation, with only one standard sensor, the standard sensor is sequentially fixed at each of the 12 positions. A vibration source generates the same excitation signal to ensure identical vibration of the test substrate. The standard sensor measures the vibration response data at its own position, and this vibration response data is used as the reference response data for that position. It is understandable that, in order to ensure the accuracy of the reference response data at each location, taking the first location among multiple locations as an example, when the standard sensor collects the reference response data at the first location, compared to the vibration response data collected by the sensor to be calibrated at the first location, the excitation signal of the excitation vibration source, the test substrate, and the sampling frequency should be the same.

[0173] In some schemes, in order to improve calibration efficiency, the number of standard sensors can also be multiple, and the number of multiple standard sensors is the same as the number of multiple sensors to be calibrated. The positions of the multiple standard sensors on the test substrate are the same as the positions of the multiple sensors on the test substrate. In this case, reference response data at multiple positions can be obtained by applying an excitation signal.

[0174] In this case, the multiple sensors are calibrated based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor. This includes calibrating the multiple sensors based on reference response data at multiple locations and the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor.

[0175] In one implementation, the plurality of sensors includes a first sensor, which is fixedly disposed at a first position on the test substrate. The sensors are calibrated based on reference response data from multiple positions and vibration response data corresponding to the sensors to obtain calibration data for each sensor. This includes calibrating the first sensor based on the reference response data from the first position and the vibration response data corresponding to the first sensor to obtain calibration data for the first sensor. Here, the calibration algorithm used can be the aforementioned average scaling factor method, curve fitting method, etc., and the execution process can be referred to the description of the corresponding content above, which will not be repeated here.

[0176] In some possible embodiments, in one implementation, when the distance between each sensor and the vibration excitation source is within a preset range, the multiple sensors are calibrated based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor. This includes: obtaining a reference measurement result based on the vibration response data corresponding to the multiple sensors, wherein the reference measurement result includes the average amplitude at each sampling point among multiple sampling points; and calibrating each sensor based on the reference measurement result and the vibration response data corresponding to each sensor to obtain calibration data for each sensor.

[0177] Taking the first sampling point among multiple sampling points as an example, the average amplitude at the first sampling point can be obtained by averaging the amplitudes at each first sampling point in the vibration response data corresponding to multiple sensors; or the average amplitude at the first sampling point can be obtained by averaging the amplitudes at some first sampling points in the vibration response data corresponding to multiple sensors, with some first sampling points determined based on the mode of the amplitudes at each first sampling point.

[0178] Taking the first sensor as an example, the above-mentioned calibration of each sensor based on the reference measurement results and the vibration response data corresponding to each sensor to obtain the calibration data of each sensor includes: calibrating the first sensor based on the reference measurement results and the vibration response data corresponding to the first sensor to obtain the calibration data of the first sensor. Here, the calibration algorithm used in the calibration process can be the average scaling factor method, curve fitting method, etc., as described above, and the implementation method will not be elaborated here.

[0179] By implementing this method, with multiple sensors uniformly deployed around the excitation vibration source (meaning the distance between each sensor and the excitation vibration source is within a preset range), the vibration signal is averaged by multiple sensors. This reduces the impact of local vibration noise and interference, improving measurement accuracy and stability. Furthermore, the uniformly deployed sensors can cross-verify measurement results, enhancing measurement precision and consistency. The uniform deployment also ensures that the data collected by the sensors exhibits a certain degree of symmetry and regularity, facilitating subsequent data analysis and processing.

[0180] In some possible embodiments, considering the differences in vibration characteristics, temperature distribution, electromagnetic environment, etc., of different parts of the vehicle, these factors can cause deviations in the sensor's measurement results. To further improve the calibration accuracy of the sensor, the calibration data can be processed by incorporating a calibration coefficient associated with the installation location. For example, after obtaining the calibration data of the first sensor, the calibration device can also calibrate the calibration data of the first sensor using a first calibration coefficient, wherein the first calibration coefficient is associated with the deployment location of the first sensor on the vehicle. Here, the first calibration coefficient is set based on expert experience or system default settings. By using a calibration coefficient associated with the installation location, adjustments can be made for the influencing factors at these specific locations, making the sensor measurements more accurate. This allows sensors at different locations to provide more reliable measurement data, improving the calibration accuracy and measurement precision of the sensor.

[0181] By implementing the embodiment shown in Figure 8, a sensor calibration system can be built based on a test substrate, an excitation vibration source, and a calibration device. This enables batch calibration of sensors, and especially in the data sampling stage, it greatly reduces the time required for sensor data sampling and improves the calibration efficiency of the sensors.

[0182] In some possible embodiments, after obtaining the calibration data of the sensor, the calibration device can also use the calibration data of the sensor for applications such as quality qualification testing and sensitivity verification of the sensor.

[0183] In one implementation, the plurality of sensors include a first sensor, and the calibration device further determines a preset range, which is associated with the usage requirements of the first sensor; and determines whether the first sensor meets the quality requirements based on the calibration data of the first sensor and the preset range.

[0184] For example, the usage requirements of the first sensor are related to at least one of the quality indicators such as the sensor's sensitivity and linearity, and the preset ranges corresponding to different quality indicators are different.

[0185] For example, the calibration data of the first sensor is the aforementioned average scaling factor (i.e., actual sensitivity). The usage requirements of the first sensor indicate the sensor's nominal sensitivity and the allowable sensitivity error range. The aforementioned preset range is determined based on the sensor's nominal sensitivity and the allowable sensitivity error range. If the calibration data of the first sensor falls within the preset range, it is determined that the first sensor meets the quality requirements.

[0186] For example, the calibration data of the first sensor is the coefficient of the fitting function obtained by curve fitting mentioned above. The usage requirements of the first sensor indicate the linearity error range of the sensor, and the preset range is determined as the linearity error range. The maximum linearity error in the vibration response data corresponding to the first sensor is determined based on the calibration data of the first sensor. If the maximum linearity error is within the preset range, it is determined that the first sensor meets the quality requirements.

[0187] This implementation method determines whether a sensor meets quality requirements by using its calibration data and preset range. This allows for the selection of sensors that meet the quality requirements, enabling rapid defective sensor detection on the production line. Furthermore, different preset ranges can be determined based on the sensor's usage requirements, thus identifying sensors that meet different application needs for various scenarios.

[0188] In another implementation, the plurality of sensors include a first sensor, and the calibration device also acquires sensitivity standard information and obtains the sensitivity calibration coefficient of the first sensor based on the calibration data of the first sensor and the sensitivity standard information.

[0189] For example, sensitivity calibration information is associated with the sensor's usage requirements and is used to indicate the sensor's ideal output under a reference excitation signal.

[0190] For example, obtaining the sensitivity calibration coefficient of the first sensor based on the calibration data and sensitivity standard information of the first sensor includes: determining the actual output of the first sensor under a reference excitation signal based on the calibration data of the first sensor; and obtaining the sensitivity calibration coefficient of the first sensor based on the actual output of the first sensor under the reference excitation signal and the ideal output indicated by the sensitivity calibration information.

[0191] By implementing this method, the sensitivity of the sensor is calibrated using sensitivity standard information, ensuring that the sensor's measurement results meet the requirements of the ideal output.

[0192] Referring to Figure 9, which is a schematic diagram of a calibration device provided in an embodiment of this application, the calibration device 30 includes a communication unit 310 and a processing unit 312. The calibration device 30 can be implemented by hardware, software, or a combination of hardware and software.

[0193] The communication unit 310 is used to acquire the vibration response data of each of the multiple sensors under the vibration of the test substrate, and the multiple sensors are fixedly mounted on the test substrate; the processing unit 312 is used to calibrate the multiple sensors according to the vibration response data of the multiple sensors and obtain the calibration data of each sensor.

[0194] The calibration device 30 can be used to implement the calibration device-side method described in the embodiment of FIG8. In the embodiment of FIG8, the communication unit 310 can be used to execute S801, S803 and S804, and the processing unit 312 can be used to execute S802.

[0195] It should be understood that the division of the units in the calibration device 30 described above is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units in the device can be implemented by a processor calling software; for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of each unit in the device. The processor can be, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units in the device can be implemented as hardware circuits. The functionality of some or all units can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the above units is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through a configuration file, thereby achieving the functionality of some or all of the above units. All units of the above device can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remaining parts implemented through hardware circuits.

[0196] In this application embodiment, a processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships of hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0197] As can be seen, each unit in the above device can be one or more processors (or processing circuits) configured to implement the above methods, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0198] Furthermore, the units in the above devices can be integrated in whole or in part, or they can be implemented independently. In one implementation, these units are integrated together as a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the units in the device. The at least one processor may be of different types, such as CPU and FPGA, CPU and artificial intelligence processor, CPU and GPU, etc.

[0199] Referring to Figure 10, which is a schematic diagram of the structure of a computing device according to an embodiment of this application, the computing device 40 includes a processor 401, a communication interface 402, a memory 403, and a bus 404. The processor 401, the memory 403, and the communication interface 402 communicate with each other via the bus 404. It should be understood that this application does not limit the number of processors and memories in the computing device 40.

[0200] In one implementation, the computing device 40 may be the aforementioned calibration device or a device containing a calibration device. Please refer to the description of the calibration device above; it will not be repeated here.

[0201] Bus 404 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one line is used in Figure 10, but this does not imply that there is only one bus or one type of bus. Bus 404 can include pathways for transmitting information between various components of computing device 40 (e.g., memory 403, processor 401, communication interface 402).

[0202] The processor 401 can be referred to the relevant description of the processor in the above embodiments, and will not be repeated here.

[0203] Memory 403 provides storage space, which can store data such as the operating system and computer programs. Memory 403 can be one or a combination of several of the following: random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read memory (CD-ROM). Memory 403 can exist alone or be integrated into processor 401.

[0204] The communication interface 402 can be used to provide information input or output to the processor 401. Alternatively, the communication interface 402 can be used to receive and / or send data to externally transmitted data, and can be a wired link interface including an Ethernet cable, or a wireless link interface (such as Wi-Fi, Bluetooth, general wireless transmission, etc.). Alternatively, the communication interface 402 may also include a transmitter (such as an RF transmitter, antenna, etc.) or a receiver coupled to the interface.

[0205] The processor 401 in the computing device 40 is used to read the computer program stored in the memory 403 to execute the aforementioned method, such as the calibration device side method described in FIG8.

[0206] In one possible design, computing device 40 may be one or more modules in an execution body (e.g., a calibration device) that performs the method shown in FIG8, and processor 401 may be used to read one or more computer programs stored in memory for performing the following operations:

[0207] The vibration response data of each of the multiple sensors under the vibration of the test substrate is acquired through the communication unit 310. These multiple sensors are fixedly mounted on the test substrate.

[0208] The sensors are calibrated based on their vibration response data to obtain calibration data for each sensor.

[0209] In the embodiments described above, each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant descriptions in other embodiments. Furthermore, in the embodiments of this application, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the embodiments are consistent and can be mutually referenced. Technical features from different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0210] It should be noted that those skilled in the art will recognize that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0211] The technical solution of this application, in essence, or the part that makes the contribution, or all or part of the technical solution, can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes several instructions to cause a device (which may be a personal computer, server, network device, robot, microcontroller, chip, robot, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

Claims

1. A sensor calibration system, characterized in that, The sensor calibration system includes: an excitation vibration source, a test substrate, and a calibration device, wherein the excitation vibration source is fixedly connected to the test substrate; The excitation vibration source is used to cause the test substrate to vibrate; The test substrate is used to transmit the vibration to multiple sensors, and the multiple sensors are fixedly mounted on the test substrate; The calibration device is used to acquire vibration response data of each sensor under the vibration, and to calibrate the multiple sensors according to the vibration response data corresponding to the multiple sensors, thereby obtaining calibration data of each sensor; wherein the type of the excitation vibration source is different from the type of the sensor.

2. The system according to claim 1, characterized in that, The distance between each of the plurality of sensors and the excitation vibration source is within a preset range.

3. The system according to claim 1 or 2, characterized in that, The multiple sensors are arranged in a ring on the test substrate.

4. The system according to any one of claims 1-3, characterized in that, The test substrate has an axially symmetric or centrally symmetric shape.

5. The system according to any one of claims 1-4, characterized in that, When the excitation vibration source is a loudspeaker, a piezoelectric exciter, or an electric motor, the excitation vibration source is disposed on the test substrate.

6. The system according to any one of claims 1-4, characterized in that, When the excitation vibration source is a vibration test bench, the test substrate is fixedly mounted on the vibration test bench.

7. The system according to any one of claims 1-4, characterized in that, The excitation vibration source includes a support channel and an impact ball. The first end of the support channel is positioned above the test substrate, and the second end of the support channel serves as the entry end of the impact ball, which falls from the first end of the support channel to impact the test substrate.

8. The system according to any one of claims 1-4, characterized in that, The excitation vibration source includes a connecting rod and a striking head. The striking head is mounted on the connecting rod, and the excitation vibration source is used to control the movement of the connecting rod to drive the striking head to strike the test substrate.

9. The system according to any one of claims 1-8, characterized in that, The calibration device is also used to acquire parameter information of the excitation vibration source, the parameter information of the excitation vibration source including the amplitude and frequency of the excitation signal; The calibration device is specifically used to calibrate the plurality of sensors based on the parameter information of the excitation vibration source and the vibration response data corresponding to the plurality of sensors, so as to obtain calibration data for each sensor.

10. The system according to claim 9, characterized in that, If at least two of the plurality of sensors have a distance error greater than a preset threshold between them and the excitation vibration source, the parameter information of the excitation vibration source shall also include the distance between each sensor and the excitation vibration source.

11. The system according to any one of claims 1-8, characterized in that, The calibration device is also used to acquire reference response data at multiple locations, wherein the multiple locations are fixed positions of the multiple sensors on the test substrate, and the reference response data are measured by a standard sensor under the vibration. The calibration device is specifically used to: calibrate the multiple sensors based on the reference response data at the multiple locations and the vibration response data corresponding to the multiple sensors, and obtain calibration data for each sensor.

12. The system according to any one of claims 1-11, characterized in that, The plurality of sensors are fixedly mounted on the test substrate by at least one of the following methods: Adhesive bonding, snap-fit ​​bonding, magnetic bonding, and screw bonding.

13. The system according to any one of claims 1-12, characterized in that, The shape of the test substrate is associated with the mounting positions of the plurality of sensors on the vehicle.

14. The system according to any one of claims 1-13, characterized in that, The plurality of sensors includes a first sensor. The control device is further configured to calibrate the calibration data of the first sensor using a first calibration coefficient, the first calibration coefficient being associated with the deployment location of the first sensor on the vehicle.

15. A sensor calibration method, characterized in that, A calibration device for use in a sensor calibration system, the sensor calibration system further comprising an excitation vibration source and a test substrate, the excitation vibration source being fixedly connected to the test substrate, the excitation vibration source being used to vibrate the test substrate, the method comprising: The vibration response data of each of the multiple sensors under the vibration is acquired, wherein the multiple sensors are fixedly mounted on the test substrate; The multiple sensors are calibrated based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor, wherein the type of the excitation vibration source is different from the type of the sensor.

16. The method according to claim 15, characterized in that, The plurality of sensors includes a first sensor, and the method further includes: A preset range is determined, which is associated with the usage requirements of the first sensor; Based on the calibration data of the first sensor and the preset range, determine whether the first sensor meets the quality requirements.

17. The method according to claim 15 or 16, characterized in that, The plurality of sensors includes a first sensor, and the method further includes: Obtain sensitivity standard information; The sensitivity calibration coefficient of the first sensor is obtained based on the calibration data of the first sensor and the sensitivity standard information.

18. The method according to any one of claims 15-17, characterized in that, The method further includes: Obtain the parameter information of the excitation vibration source, the parameter information including the amplitude and frequency of the excitation signal; The step of calibrating the multiple sensors based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor includes: The multiple sensors are calibrated based on the parameter information of the excitation vibration source and the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor.

19. The method according to claim 18, characterized in that, If at least two of the plurality of sensors have a distance error greater than a preset threshold between them and the excitation vibration source, the parameter information of the excitation vibration source shall also include the distance between each sensor and the excitation vibration source.

20. The method according to any one of claims 15-17, characterized in that, The method further includes: Acquire reference response data at multiple locations, wherein the multiple locations are fixed positions of the multiple sensors on the test substrate, and the reference response data are measured by a standard sensor under the vibration; The step of calibrating the multiple sensors based on the vibration response data corresponding to the multiple sensors to obtain calibration data for each sensor includes: The multiple sensors are calibrated based on the reference response data at the multiple locations and the vibration response data corresponding to the multiple sensors, thereby obtaining calibration data for each sensor.

21. The method according to any one of claims 15-20, characterized in that, The plurality of sensors includes a first sensor, and the method further includes: The calibration data of the first sensor is calibrated using a first calibration factor, which is associated with the deployment location of the first sensor on the vehicle.

22. The method according to any one of claims 15-21, characterized in that, The sensor calibration system is the sensor calibration system as described in any one of claims 1-14.

23. A device for sensor calibration, characterized in that, The apparatus includes a communication unit and a processing unit, and is used to perform the method as described in any one of claims 15-22.

24. A device for sensor calibration, characterized in that, The device includes a memory and a processor, the memory storing computer program instructions, and the processor executing the computer program instructions to cause the device to perform the method as described in any one of claims 15-22.

25. A computer-readable storage medium containing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the method as described in any one of claims 15-22.

26. A computer program product containing instructions, characterized in that, When the instructions are executed by the computing device, the computing device performs the method as described in any one of claims 15-22.

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