CN110455442A - A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method - Google Patents
A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method Download PDFInfo
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- CN110455442A CN110455442A CN201910781791.9A CN201910781791A CN110455442A CN 110455442 A CN110455442 A CN 110455442A CN 201910781791 A CN201910781791 A CN 201910781791A CN 110455442 A CN110455442 A CN 110455442A
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- pressure sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/10—Measuring force or stress, in general by measuring variations of frequency of stressed vibrating elements, e.g. of stressed strings
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L27/00—Testing or calibrating of apparatus for measuring fluid pressure
- G01L27/002—Calibrating, i.e. establishing true relation between transducer output value and value to be measured, zeroing, linearising or span error determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L9/00—Measuring steady of quasi-steady pressure of fluid or fluent solid material by electric or magnetic pressure-sensitive elements; Transmitting or indicating the displacement of mechanical pressure-sensitive elements, used to measure the steady or quasi-steady pressure of a fluid or fluent solid material, by electric or magnetic means
- G01L9/0001—Transmitting or indicating the displacement of elastically deformable gauges by electric, electro-mechanical, magnetic or electro-magnetic means
- G01L9/0008—Transmitting or indicating the displacement of elastically deformable gauges by electric, electro-mechanical, magnetic or electro-magnetic means using vibrations
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The present invention relates to a kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction methods, micro-control unit including sealed compartment and in sealed compartment, battery pack, pressure sensor, and the adjustment mechanism for adjusting pressure sensor posture, sealed compartment is equipped with the flexible joint being in communication with the outside and with sealed compartment sealing fixation, pressure sensor is connect with flexible joint and is lifted in sealed compartment by its measurement pipe, pressure sensor connect by adjusting mechanism with 3-axis acceleration sensor, pressure sensor, 3-axis acceleration sensor and adjustment mechanism are electrically connected with the microcontrol unit.Posture self-adjusting of the pressure sensor in submarine observation can be achieved in the present invention, and can realize the measurement of long term drift value, improves the accuracy of data.
Description
Technical field
The present invention relates to ocean observation technology fields, and in particular to a kind of posture self-adjusting pressure sensor apparatus and pressure
Sensor drift corrections method.
Background technique
Quartz resonance pressure sensor has been widely used in Oceanic View due to the advantages that its precision is high, stability is strong
In survey field, including seabed deformation observation, tsunami observation etc..At present using more quartz resonance pressure sensor with quartz
Resonance beam is force sensing element, experiences pressure by Bourdon tube, and convert pressure into power and act in resonance beam, changes resonance beam
Vibration frequency, changed according to the relationship of vibration frequency and pressure you can get it ambient pressure.
Due to the effect of terrestrial gravitation, even if ambient pressure does not change, the vibration frequency of resonance beam also can be with biography
The change of sensor posture and change.And when practical application, usually pressure sensor is fixed together with other instruments equipment
On observation platform, observation platform is laid to sea bed face, seabed deformation can change the posture of pressure sensor, make to observe number
According to accuracy.Thus it is guaranteed that sensor remains that same posture can reduce the deviation of data in observation process.
In addition, the drift of sensor is also the important errors source for influencing data accuracy.Submarine observation is usually long-term
Irregular drift can occur for observation, sensor.At present mostly use empirical equation calculate sensor drift value, then from observation number
Drift value is subtracted in, but calculated value not can determine that with whether actual value really coincide.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of posture self-adjusting pressure sensor apparatus and pressure sensors
Drift correction method, when seawater observation may be implemented, the posture self-adjusting of pressure sensor reduces measurement error, and can see
It surveys while realizing the drift correction to measured value.
The present invention is achieved through the following technical solutions:
A kind of posture self-adjusting pressure sensor apparatus, micro-control unit, electricity including sealed compartment and in sealed compartment are provided
Pond group, pressure sensor, and the adjustment mechanism for adjusting pressure sensor posture,
Sealed compartment is equipped with the flexible joint being in communication with the outside and with sealed compartment sealing fixation, and pressure sensor passes through its measurement pipe
It connecting and is lifted in sealed compartment with flexible joint, pressure sensor connect by adjusting mechanism with 3-axis acceleration sensor,
Wherein: pressure sensor, 3-axis acceleration sensor and adjustment mechanism are electrically connected with the microcontrol unit.
This programme measures the displacement of pressure sensor and angle using 3-axis acceleration sensor, can pass in pressure
After the position of sensor changes, displacement and angle after calculating variation, cooperation micro-control unit calculate adjustment pressure and pass
The kinematic parameter of adjustment mechanism when sensor to initial position, and adjustment mechanism is controlled to the pose adjustment of pressure sensor, make to press
Force snesor can keep during measurement same posture to measure, and reduce measurement error.
Further, the adjustment mechanism includes the support plate fixed with pressure sensor, and is located under support plate
Side and it is fixed on the supporting table in sealed compartment, is provided between support plate and supporting table and is not at conplane three and electronic pushes away
Bar, the both ends of each electric pushrod are rotatablely connected with support plate and supporting table respectively, correspond to that two of them are electronic to be pushed away in supporting table
The end of bar is separately installed with two driving motors for adjusting electric pushrod rotational angle, and the driving of two driving motors
Axis is vertically arranged, and driving motor and electric pushrod are electrically connected with the microcontrol unit.
Further, it is connected with the measurement branch pipe for measurement pipe to be connected to sealed compartment in the measurement pipe, measures
First solenoid valve is installed on branch pipe, second solenoid valve is installed in measurement pipe, the first solenoid valve and second solenoid valve with it is micro-
Control unit electrical connection.
It is opened by the first solenoid valve of control, second solenoid valve is closed, and can use pressure sensor to gas in sealed compartment
Pressure measures, and second solenoid valve is opened, and after the first solenoid valve is closed, pressure sensor can continue to extraneous seawater pressure
Measure the measurement switching, it can be achieved that different pressures.
Further, the air pressure for surveying pressure to sealed compartment by micro-control unit controls starting is installed in the sealed compartment
Table, and when the first solenoid valve is opened, pressure sensor and air gauge respectively to pressure is surveyed in sealed compartment and by measurement feedback extremely
Micro-control unit storage.
Air gauge regards as standard value to the measurement data of sealed compartment, is controlled by valve, and pressure sensor is to sealed compartment
Measurement data be measured value, drift value can be calculated by subtracting standard value by measured value.
Further, underwater electrical connector is also connected with outside the sealed compartment, underwater electrical connector includes female and male connector, mother
Head connect with the control circuit in sealed compartment and control circuit is formed open circuit, and male connector can control electric with female grafting and connecting
Road.
Open circuit is arranged in control circuit at female, using male connector and the mating connection circuit of female, realizes whole device
Power supply, the male connector of underwater electrical connector is equivalent to a short circuit, with after female open circuit grafting, can connect circuit, use the party
Method low cost, it is easy to operate, do not need water proof switch.
Preferably, the flexible joint is also connected with spiral coil outside sealed compartment, in spiral coil and measurement pipe
Full of silicone oil.
Spiral coil can increase the length of measurement pipe, and accommodate more measuring hydraulic oil, prevent because of seawater
Pressure is excessive to cause seawater to enter pressure sensor inside, causes equipment damage.
Highly prevent not less than spiral coil length preferably, the sealed compartment is arranged to be fixed with outside spiral coil
Pretective sleeve pipe, protective sleeve are fixed with filter screen in one end far from sealed compartment.
The effect of protective sleeve is while to guarantee to answer in seabed to protect spiral coil not collided during transportation
Used time, spiral coil can remain motionless, not because the effects of water flow shakes, to influence accuracy of measurement.
Preferably, the protective sleeve is fixed with filter screen in the end far from sealed compartment.
Filter screen is that seabed silt particle enters and enters pressure sensor inside along spiral coil in observation process in order to prevent.
A kind of pressure sensor drift correction method in posture self-adjusting pressure sensor apparatus, comprising the following steps:
The first step, during pressure sensor measurement, micro-control unit is opened the first solenoid valve every same time period and is closed
Second solenoid valve, pressure sensor and air gauge are simultaneously to surveying pressure and by measurement feedback to micro-control unit in sealed compartment；
Drift of the absolute value of the difference of second step, calculation pressure sensor measured value and air gauge measured value as pressure sensor
Value；
Third step makes the drift curve of pressure sensor during measuring respectively using time and drift value as reference axis；Respectively with
Time and will in pressure sensor to seawater measured value be reference axis, make the measured value curve of pressure sensor, pressure sensing
The measured value that the true value of device each time point measurement is equal to the time point subtracts the drift value at the time point.
Beneficial effects of the present invention:
One, it is cooperated by 3-axis acceleration sensor, micro-control unit and adjustment mechanism, it can be achieved that pressure sensor
Pose adjustment guarantees sealed compartment when positional shift occurs with observation platform, and internal pressure sensor can keep posture
Stablize, reduces measurement error.
Two, the opening and closing for controlling the first solenoid valve and second solenoid valve, using pressure sensor and air gauge respectively to sealing
Cabin air pressure measures, and obtains the drift value of pressure sensor, and pressure sensor subtracts each other seawater pressure measured value with deviant
The true pressure value that seawater can be obtained, improves measurement accuracy.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the enlarged structure schematic diagram of A in Fig. 1；
Fig. 3 is the electrical block diagram of all parts in Fig. 1；
Fig. 4 is schematic diagram of internal structure when pressure sensor apparatus of the present invention has just contacted seabed；
Schematic diagram of internal structure of the Fig. 5 for pressure sensor apparatus in Fig. 4 after stable；
Fig. 6 is pressure sensor position schematic diagram of internal structure adjusted of the invention；
Fig. 7 is the angle schematic diagram of each electric pushrod in Fig. 6.
It is as shown in the figure:
1, sealed compartment, 2, pressure sensor, 3, micro-control unit, 4, battery pack, 5, card slot, 6, flexible joint, 7, measurement pipe, 8,
Spiral coil, 9, protective sleeve, 10, filter screen, 11, support plate, 12, supporting table, 13, air gauge, 14, driving motor, 15, electricity
Dynamic push rod, 16, turning joint, 17, grafting female, 18, grafting male connector, 19,3-axis acceleration sensor, 20, second solenoid valve,
21, the first solenoid valve, 22, measurement branch pipe.
Specific embodiment
In order to clarify the technical characteristics of the invention, being illustrated below by specific embodiment to this programme.
A kind of posture self-adjusting pressure sensor apparatus, micro-control unit 3 including sealed compartment 1 and in sealed compartment 1,
Battery pack 4, pressure sensor 2 and the adjustment mechanism for adjusting pressure sensor posture.
The adjustment mechanism includes the support plate 11 fixed with pressure sensor 2, and be located at 11 lower section of support plate and
The supporting table 12 being fixed in sealed compartment 1 is provided between support plate 11 and supporting table 12 and is not at conplane three electricity
Dynamic push rod 15, in particular to three electric pushrods 15 and three points of 12 junction of supporting table are located at three of the same triangle
On vertex, preferably, triangle is selected as equilateral triangle.The both ends of each electric pushrod 15 respectively with support plate 11 and branch
It supports platform 12 to be rotatablely connected, wherein movable end, that is, push rod end of electric pushrod 15 is connected by turning joint 16 and the rotation of support plate 11
It connects, the fixing end of electric pushrod 15 is rotatablely connected by turning joint 16 and supporting table 12, corresponds to two of them in supporting table 12
The end of electric pushrod 15 is separately installed with two driving motors 14 for adjusting 15 rotational angle of electric pushrod, and two drives
The drive shaft of dynamic motor 14 is vertically arranged, and the drive shaft of driving motor 14 can drive the activity at 15 fixing end of electric pushrod to close
16 rotation of section, realizes the rotation of electric pushrod 15.Driving motor 14 and electric pushrod 15 are electrically connected with micro-control unit 3.
Driving motor 14 in the present embodiment selects servo motor, controls turning joint 16 respectively around pressure sensor
X-axis and Y direction rotation, electric pushrod 15 can adjust length, therefore when the posture of pressure sensor 2 changes,
Change information is sent to micro-control unit 3 by 3-axis acceleration sensor 19, and adjustment instruction is sent to servo by micro-control unit 3
Motor and electric pushrod 15 carry out pose adjustment.
It is equipped with card slot 5 outside the sealed compartment 1, seabed is sunk to together with observation platform by sealed compartment 1 and is measured,
Card slot 5 outside sealed compartment 1 is used to be fixedly mounted with observation platform.
Sealed compartment 1, which is equipped with, to be in communication with the outside and seals fixed flexible joint 6 with sealed compartment 1, and pressure sensor 2 passes through
Its measurement pipe 7 connect with flexible joint 6 and is lifted in sealed compartment 1, and flexible joint 6 keeps sealing with 1 contact position of sealed compartment,
Prevent leak.
Measurement pipe 7 is that the Bourdon tube inside pressure sensor 2 stretches out the part outside pressure sensor 2, which passes through soft
Property connector 6 is also connected with spiral coil 8 outside sealed compartment 1, as shown in Figure 1, spiral coil 8 and measurement pipe 7 are consistent, spiral
Silicone oil is full of in coil pipe 8 and measurement pipe 7.The sealed compartment 1 is arranged outside spiral coil 8 is fixed with height not less than helical disk
The protective sleeve 9 of 8 length of pipe.The protective sleeve 9 is fixed with filter screen 10 in one end far from sealed compartment 1, in order to prevent
The silt particle or other large particulate matters that seabed suspends in observation process enter sensor internal.
It is connected with the measurement branch pipe 22 for measurement pipe 7 to be connected to sealed compartment 1 in the measurement pipe 7, measures branch pipe
First solenoid valve 21 is installed on 22, second solenoid valve 20, the first solenoid valve 21 and second solenoid valve 20 are installed in measurement pipe 7
It is electrically connected with micro-control unit 3.It is equipped with to survey sealed compartment 1 by the control starting of micro-control unit 3 in the sealed compartment 1 and press
Air gauge 13, and when the first solenoid valve 21 is opened, pressure sensor 2 and air gauge 13 are pressed and will to surveying in sealed compartment 1 respectively
Measurement feedback to micro-control unit 3 stores.
As shown in Figure 1, pressure sensor 2 measures extraneous seawater pressure, second solenoid valve 20 is opened at this time, the first solenoid valve
21 close；Per after a period of time, second solenoid valve 20 is closed, and the first solenoid valve 21 is opened, and pressure sensor 2 and pressure gauge 13 are surveyed
Measure cabin air pressure inside；Second solenoid valve 20 is opened later, and the first solenoid valve 21 is closed, and is further continued for measurement seawater pressure.Micro-control
Unit 3 processed compares the air pressure of sensor measurement with the air pressure that air gauge 13 measures, and can calculate drift value, makes the observation phase
Between drift curve, it is true value that drift value is subtracted from initial data.
Pressure sensor 2 can remain at same posture at work, implementation method:
Assuming that the distance between 11 liang of turning joint 16 of support plate is 10cm, the initial length of electric pushrod 15 is 10cm, pressure
2 original state of sensor is 30 ° to the left vertical, is vertical direction after attitudes vibration, and assumes three electric pushrods 15 with equilateral
Rounded projections arranged.
Pressure sensor 2 will be adjusted to initial position, and the change in location measured is sent to by 3-axis acceleration sensor 19
Adjustment instruction is sent to two servo motors and three electric pushrods 15, servo motor by micro-control unit 3, micro-control unit 3
It is worked at the same time with electric pushrod 15, servo motor (in) 31.98 ° of rotation of control electric pushrod, the elongation of left side electric pushrod
6.04cm, intermediate electric pushrod extend 4.16cm, and right side electric pushrod extends 2.54cm, and the electric pushrod of left and right side is driven
Rotation.After pose adjustment, as shown in fig. 7,16.04,14.16 and 12.54 in figure respectively indicate three adjusted and electronic push away
The length of bar, and 25.21 °, 31.98 ° and 40.67 ° respectively indicate adjustment after electric pushrod angle.
As shown in fig. 6, micro-control unit 3, pressure sensor 2, driving motor 14, electric pushrod 15 inside the present apparatus,
First solenoid valve 21, second solenoid valve 20 and air gauge 13 are connect with power management module, and are powered by battery pack 4, it
Between pass through control circuit formed a closed circuit.
It is also connected with underwater electrical connector outside the sealed compartment 1, underwater electrical connector includes grafting female 17 and grafting male connector
18, grafting female 17 forms open circuit with the circuit connection in sealed compartment 1 and by circuit, and grafting male connector 18 can be inserted with grafting female 17
It connects and connects circuit.
Circuit is equipped with open circuit at one, and breaking both ends connect with two contacts in the grafting female 17 of underwater electrical connector respectively
It connects, grafting male connector 18 is connected with one section of back traverse, after grafting male connector 18 is inserted into grafting female 17, using grafting male connector 18 and inserts
The contact for connecing female 17 combines and can connect open circuit.The effect of underwater electrical connector has: to lithium battery charging, setting acquisition parameter,
Read data and power supply；When device work, grafting male connector 18 is inserted into grafting female 17, can allow battery functions.
Its principle is as shown in Figure 3: control circuit has open circuit, the grafting male connector 18 of underwater electrical connector at one to be equivalent to a short circuit, when slotting
When connecing female 17 and connect with grafting male connector 18, which forms a circuit, can work normally.
A kind of pressure sensor drift correction method in posture self-adjusting pressure sensor apparatus, comprising the following steps:
The first step, during pressure sensor measurement, micro-control unit 3 is opened the first solenoid valve 21 every same time period and is closed
Close second solenoid valve 20, pressure sensor 2 and air gauge 13 are simultaneously to surveying pressure and by measurement feedback to micro-control in sealed compartment 1
Unit 3 processed；
The absolute value of the difference of second step, 2 measured value of pressure sensor and 13 measured value of air gauge is the drift value of pressure sensor；
Third step makes the drift curve of pressure sensor 2 during measuring respectively using time and drift value as reference axis；Respectively
Using the time and by pressure sensor 2 to seawater measured value as reference axis, make the measured value curve of pressure sensor 2, pressure
The measured value that the true value of 2 each time point of sensor measurement is equal to the time point subtracts the drift value at the time point.
Certainly, above description is also not limited to the example above, technical characteristic of the present invention without description can by or
It is realized using the prior art, details are not described herein；Above embodiments and attached drawing are only used to illustrate the technical scheme of the present invention not
It is limitation of the present invention, is described the invention in detail referring to preferred embodiment, the ordinary skill people of this field
Member is it should be appreciated that variation, remodeling, the addition that those skilled in the art are made within the essential scope of the present invention
Or replacement also should belong to claims of the invention without departure from spirit of the invention.
Claims (9)
1. a kind of posture self-adjusting pressure sensor apparatus, it is characterised in that: the micro-control including sealed compartment and in sealed compartment
Unit processed, battery pack, pressure sensor, and the adjustment mechanism for adjusting pressure sensor posture,
Sealed compartment is equipped with the flexible joint being in communication with the outside and with sealed compartment sealing fixation, and pressure sensor passes through its measurement pipe
It connecting and is lifted in sealed compartment with flexible joint, pressure sensor connect by adjusting mechanism with 3-axis acceleration sensor,
Pressure sensor, 3-axis acceleration sensor and adjustment mechanism are electrically connected with the microcontrol unit；
Wherein: 3-axis acceleration sensor is used to measure three axial displacements and angle of pressure sensor initial position, and
After pressure sensor position variation, the displacement of three axial directions of x, y, z after variation and angle are sent to micro-control unit；Micro-control
The kinematic parameter of adjustment mechanism when unit processed is used to calculate adjustment pressure sensor to initial position, and controlling adjustment mechanism will
Pressure sensor restores to initial attitude.
2. posture self-adjusting pressure sensor apparatus according to claim 1, it is characterised in that: the adjustment mechanism packet
The support plate fixed with pressure sensor is included, and below support plate and is fixed on the supporting table in sealed compartment, support plate
Be provided between supporting table and be not at conplane three electric pushrods, the both ends of each electric pushrod respectively with support plate
It is rotatablely connected with supporting table, the end that two of them electric pushrod is corresponded in supporting table is separately installed with for adjusting electric pushrod
Two driving motors of rotational angle, and the drive shaft of two driving motors is vertically arranged, driving motor and electric pushrod with
Micro-control unit electrical connection.
3. posture self-adjusting pressure sensor apparatus according to claim 1 or 2, it is characterised in that: the measurement pipe
On be connected with measurement branch pipe for measurement pipe to be connected to sealed compartment, measure and the first solenoid valve, measurement pipe be installed on branch pipe
On second solenoid valve is installed, the first solenoid valve and second solenoid valve are electrically connected with the microcontrol unit.
4. posture self-adjusting pressure sensor apparatus according to claim 3, it is characterised in that: peace in the sealed compartment
Equipped with by micro-control unit controls starting to sealed compartment survey pressure air gauge, and the first solenoid valve open when, pressure sensor and
Air gauge presses surveying in sealed compartment respectively and stores measurement feedback to micro-control unit.
5. posture self-adjusting pressure sensor apparatus according to claim 1, it is characterised in that: outside the sealed compartment also
It is connected with underwater electrical connector, underwater electrical connector includes grafting female and grafting male connector, and the circuit in grafting female and sealed compartment connects
Connect and circuit formed into open circuit, grafting male connector can with the grafting of grafting female and connect circuit.
6. posture self-adjusting pressure sensor apparatus according to claim 1, it is characterised in that: the flexible joint exists
It is also connected with spiral coil outside sealed compartment, is full of silicone oil in spiral coil and measurement pipe.
7. posture self-adjusting pressure sensor apparatus according to claim 4, it is characterised in that: the sealed compartment is in spiral shell
It is arranged outside capstan pipe and is fixed with the protective sleeve that height is not less than spiral coil length.
8. posture self-adjusting pressure sensor apparatus according to claim 5, it is characterised in that: the protective sleeve exists
One end far from sealed compartment is fixed with filter screen.
9. pressure sensor drift correction method in posture self-adjusting pressure sensor apparatus according to claim 4,
It is characterized in that: the following steps are included:
The first step, during pressure sensor measurement, micro-control unit is opened the first solenoid valve every same time period and is closed
Second solenoid valve, pressure sensor and air gauge are simultaneously to surveying pressure and by measurement feedback to micro-control unit in sealed compartment；
Drift of the absolute value of the difference of second step, calculation pressure sensor measured value and air gauge measured value as pressure sensor
Value；
Third step makes the drift curve of pressure sensor during measuring respectively using time and drift value as reference axis；Respectively with
Time and will in pressure sensor to seawater measured value be reference axis, make the measured value curve of pressure sensor, pressure sensing
The measured value that the true value of device each time point measurement is equal to the time point subtracts the drift value at the time point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781791.9A CN110455442B (en) | 2019-08-23 | 2019-08-23 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910781791.9A CN110455442B (en) | 2019-08-23 | 2019-08-23 | Attitude self-adjusting pressure sensor device and pressure sensor drift correction method |
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| CN110455442B CN110455442B (en) | 2020-03-31 |
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| CN116150917A (en) * | 2023-04-18 | 2023-05-23 | 华北理工大学 | Flexible pressure sensing sleeping posture data processing method and device |
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