CN114166249A - Three-dimensional angle sensor calibration detection system and method - Google Patents
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Abstract
The invention discloses a three-dimensional angle sensor calibration detection system and a method. The angle testing rotary table is used for mounting a plurality of three-dimensional angle sensors and controlling the three-dimensional angle sensors to rotate in three dimensions; the data acquisition device is used for acquiring data output by a plurality of three-dimensional angle sensors arranged on the angle test rotary table; the upper computer is used for receiving the data acquired by the data acquisition device, calibrating and detecting the three-dimensional angle sensor and controlling the rotation state of the angle testing rotary table. The three-dimensional angle sensor calibration and detection system can realize two processes of three-dimensional calibration and detection simultaneously under the condition of not changing the axial installation position, and can carry out calibration and detection on a plurality of three-dimensional angle sensors simultaneously, thereby improving the product consistency, reducing the cost and improving the calibration and detection efficiency.
Description
Technical Field
The invention relates to the technical field of sensor calibration, in particular to a three-dimensional angle sensor calibration detection system and a three-dimensional angle sensor calibration detection method.
Background
The three-dimensional angle sensor is mainly used for measuring the overturning and pitching angle of a measured object, the sensor is fixed on the surface of the measured object during use, and when the measured object inclines, the inclination angle of the measured object can be read through the sensor.
The three-dimensional angle sensor needs to be calibrated and detected when leaving a factory, the calibration is a process of calibrating the sensor by using a standard instrument with the precision one level higher than that of the sensor, and the calibrated sensor needs to be detected after the calibration. Generally, the equipment for calibrating and detecting the three-dimensional angle sensor has fewer stations, only one or a few sensors can be calibrated and detected at a time, and more manual intervention is needed in the calibration and detection process, for example, multiple links such as replacing the axial installation position of the sensor, replacing the detection process and the like all need manual operation, so that the existing calibration and detection process of the angle sensor is complex in operation and low in efficiency. Therefore, it is desirable to provide a convenient and efficient calibration and detection system and corresponding method.
Disclosure of Invention
The embodiment of the invention provides a three-dimensional angle sensor calibration and detection system and a method, which are used for solving the problems of complicated operation and low efficiency of an angle sensor calibration and detection process in the prior art.
In one aspect, an embodiment of the present invention provides a calibration and detection system for a three-dimensional angle sensor, including:
the angle testing rotary table is used for mounting a plurality of three-dimensional angle sensors and controlling the three-dimensional angle sensors to rotate in three dimensions;
the data acquisition device is used for acquiring data output by a plurality of three-dimensional angle sensors arranged on the angle testing rotary table;
and the upper computer is used for receiving the data acquired by the data acquisition device, calibrating and detecting the three-dimensional angle sensor and controlling the rotation state of the angle testing rotary table.
On the other hand, the embodiment of the invention also provides a three-dimensional angle sensor calibration detection method, which comprises the following steps:
installing a three-dimensional angle sensor in the three-dimensional angle sensor calibration detection system, and entering a calibration process;
in the calibration process, the three-dimensional angle sensor is electrified;
acquiring a calibration determination signal of at least one axis;
when the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating an angle threshold value set by the corresponding switching value signal;
determining whether there is a calibration completion determination signal of a plurality of channels after the calibration of one axis is completed;
if a multi-channel calibration completion determination signal exists, entering a detection process;
in the detection process, obtaining a detection determination signal of at least one axis;
when the detection determination signal of at least one axis is within the preset detection parameter range, detecting an angle threshold value set by the corresponding switching value signal;
determining whether a multi-channel detection completion determination signal exists after the detection of one axis is completed;
and if the multi-channel detection completion determination signal exists, ending the detection flow.
The three-dimensional angle sensor calibration detection system and method provided by the invention have the following advantages:
1. the three-dimensional angle sensor calibration and detection system can realize two procedures of three-dimensional calibration and detection simultaneously under the condition of not changing the axial installation position, and also provides a convenient and efficient calibration and detection method.
2. The three-dimensional angle sensor calibration and detection system can simultaneously calibrate and detect a plurality of three-dimensional angle sensors, improves the product consistency, reduces the cost and improves the calibration and detection efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional angle sensor calibration detection system according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a calibration flow in a calibration detection method for a three-dimensional angle sensor according to an embodiment of the present invention;
fig. 3 is a schematic view of a detection flow in the calibration detection method for a three-dimensional angle sensor according to the embodiment of the present invention.
The reference numbers illustrate: 1-an upper computer, 2-a data acquisition device, 3-a signal line and 4-an angle testing turntable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a three-dimensional angle sensor calibration detection system according to an embodiment of the present invention. The embodiment of the invention provides a three-dimensional angle sensor calibration detection system, which comprises:
the angle testing rotary table 4 is used for mounting a plurality of three-dimensional angle sensors and controlling the three-dimensional angle sensors to rotate in three dimensions;
the data acquisition device 2 is used for acquiring data output by a plurality of three-dimensional angle sensors arranged on the angle testing rotary table 4;
and the upper computer 1 is used for receiving the data acquired by the data acquisition device 2, calibrating and detecting the three-dimensional angle sensor, and controlling the rotation state of the angle test rotary table 4.
Illustratively, the data acquisition device 2 has a multi-channel data acquisition function, which supports acquisition of analog and digital signals, the analog signal can acquire a current signal of 0-30mA and a voltage signal of 0-5V, and the acquired digital signal can transmit the acquired data to the upper computer 1 through RS232, RS485 and a UART (Universal Asynchronous Receiver/Transmitter) interface.
In a possible embodiment, further comprising: and the signal line 3 is used for being in communication connection with the angle testing rotary table 4 and the upper computer 1 and is used for being in communication connection with the data acquisition device 2 and the upper computer 1.
In a possible embodiment, the angle-testing turret 4 comprises: the driving device is in communication connection with the upper computer 1; the rotary mounting platform is provided with a plurality of mounting stations, the mounting stations are used for mounting the three-dimensional angle sensor, and the rotary mounting platform is driven by the driving device to rotate in a three-dimensional mode.
Exemplarily, drive arrangement can include the support of a plurality of U types, and the support of a plurality of U types rotates the connection from outside to inside in proper order including mounting bracket and driving motor, and driving motor sets up the junction at the support, and driving motor can choose step motor for use, and step motor works under the control of host computer to make drive arrangement take place to rotate. The rotary mounting platform is arranged on the innermost support, a plurality of mounting stations are arranged on the rotary mounting platform, and after the three-dimensional angle sensor is mounted on the rotary mounting platform, the data acquisition device 2 can acquire data output by the three-dimensional angle sensor. In the embodiment of the invention, the number of the installation stations is 16, and the installation stations are uniformly distributed on the rotary installation platform in the form of 4 rows and 4 columns, so that the three-dimensional angle sensor calibration and detection system can calibrate and detect 16 three-dimensional angle sensors at most at one time.
The embodiment of the invention also provides a three-dimensional angle sensor calibration detection method, as shown in fig. 2-3, the method comprises the following steps:
s200, installing the three-dimensional angle sensor in the three-dimensional angle sensor calibration detection system, and entering a calibration process;
s210, in the calibration process, the three-dimensional angle sensor is electrified;
s220, acquiring a calibration determination signal of at least one axis;
s230, when the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating an angle threshold value set by the corresponding switching value signal;
s240, after the calibration of one axis is finished, determining whether a multi-channel calibration completion determination signal exists;
s250, if a multi-channel calibration completion determination signal exists, entering a detection process;
s300, in the detection process, obtaining a detection determination signal of at least one axis;
s310, when the detection determination signal of at least one axis is in a preset detection parameter range, detecting an angle threshold value set by the corresponding switching value signal;
s320, after the detection of one axis is finished, determining whether a multi-channel detection completion determination signal exists;
and S330, if a multi-channel detection completion determination signal exists, ending the detection process.
Illustratively, before the three-dimensional angle sensor is powered on at S210, calibration parameters also need to be determined. Specifically, operating personnel can input above-mentioned calibration parameter at the host computer, and the calibration parameter includes: the number of calibration points, the calibration angle range and the calibration frequency for each axis.
S220 specifically includes:
s221, determining directions of an X axis, a Y axis and a Z axis and calibration parameters; s222, determining whether a channel needing to be calibrated exists within a preset time after the three-dimensional angle sensor is electrified; s223, if a channel needing to be calibrated exists, determining a calibration channel where the three-dimensional angle sensor is located; and S224, after the calibration channel is determined, determining whether to acquire a calibration determination signal of at least one axis.
In S221, the directions of the X-axis, Y-axis, and Z-axis may be manually selected by the operator. In S222, generally, how many three-dimensional angle sensors are installed in the three-dimensional angle sensor calibration detection system, there are how many channels to be calibrated, and each three-dimensional angle sensor occupies one channel. And if no channel needing calibration exists, entering a detection process. In S224, if there is no calibration determination signal in any axial direction, the detection process is also entered.
S230 specifically includes:
s231, determining whether the calibration determination signal of at least one axis is within a preset calibration parameter range; s232, if the calibration determination signal of at least one axis is in a preset calibration parameter range, determining calibration data according to the axial priority, and calibrating an angle threshold value set by the corresponding switching value signal; s233, correcting the calibration parameters if the calibration determination signal of at least one axis is not in the preset calibration parameter range; s234, acquiring a calibration determination signal of at least one axis on the basis of the corrected calibration parameter; and S235, performing unidirectional calibration on the three-dimensional angle sensor according to the axial priority by adopting a sensor sectional calibration method.
In S233, when the calibration determination signal of the at least one axis is not within the preset calibration parameter range, the upper computer may send a corresponding prompt, and the operator may modify the calibration parameter according to the prompt, so that the calibration determination signal of the at least one axis is within the calibration parameter range. In S235, the priorities in the axial direction are, in order from high to low, the X axis, the Y axis, and the Z axis.
S240 specifically includes:
s241, determining whether the calibration of one axis is finished; s242, if the calibration of one axis is finished, determining whether a multi-channel calibration completion determination signal exists; and S243, if the multi-channel calibration completion determination signal does not exist, calibrating the next axis.
In S242, if there is a multi-channel calibration completion determination signal, it indicates that all three-dimensional angle sensors in the three-dimensional angle sensor calibration detection system have completed the calibration work in the current axial direction, and the detection process may be entered, if the calibration of one axis is not completed, it is necessary to return to S224 to complete the calibration of the current axial direction, and in S243, it is necessary to return to S222 to complete the calibration of other axial directions and channels.
In the detection flow, S300 specifically includes:
s301, determining directions and detection parameters of an X axis, a Y axis and a Z axis; s302, determining whether a channel needing to be detected exists within a preset time after entering a detection flow; s303, if a channel needing to be detected exists, determining a detection channel where the three-dimensional angle sensor is located; s304, after the detection channel is determined, whether a detection determination signal of at least one axis is acquired is determined.
In S301, the directions of the X axis, the Y axis and the Z axis can be manually selected by an operator, the operator can input the detection parameters on the upper computer, and the detection parameters comprise: the number of detection points in each axial direction, the detection angle range and the detection frequency. In S302, generally, how many three-dimensional angle sensors are installed in the three-dimensional angle sensor calibration detection system, how many channels to be detected exist, and each three-dimensional angle sensor occupies one channel. And if the channel needing to be detected does not exist, determining whether a detection completion determining signal exists, if so, finishing the detection process, and if not, returning to the calibration process. In S304, if there is no detection determination signal in any axial direction, it is determined whether there is a detection completion determination signal, and if there is, the detection flow is ended, and if there is no detection completion determination signal, the calibration flow is returned.
S310 specifically includes:
s311, determining whether the detection determination signal of at least one axis is in a preset detection parameter range; s312, if the detection determination signal of at least one axis is in the preset detection parameter range, determining detection data according to the axial priority, and detecting an angle threshold value set by the corresponding switching value signal; s313, if the detection determination signal of at least one axis is not in the range of the preset detection parameters, correcting the detection parameters; s314, acquiring a detection determination signal of at least one axis on the basis of the corrected detection parameters; and S315, carrying out unidirectional detection on the three-dimensional angle sensor according to the axial priority.
In S313, when the detection determination signal of the at least one axis is not within the preset detection parameter range, the upper computer may send a corresponding prompt, and the operator may modify the detection parameter according to the prompt, so that the detection determination signal of the at least one axis is within the detection parameter range. In S315, the priorities in the axial direction are, in order from high to low, the X axis, the Y axis, and the Z axis.
S320 specifically includes:
s321, determining whether the detection of one axis is finished; s322, if the detection of one axis is finished, determining whether a multi-channel detection completion determining signal exists; and S323, if the multi-channel detection completion determination signal does not exist, detecting the next axis.
In S322, if there is a multi-channel detection completion determination signal, it indicates that all three-dimensional angle sensors in the three-dimensional angle sensor calibration detection system have completed the detection work of the current axial direction, and ends the detection process, if the detection of one axis is not completed, it needs to return to S304 to complete the detection of the current axial direction, and in S323, it needs to return to S302 to complete the detection of other axial directions and channels.
Description of the experiments
The method of the invention is compared with the single product calibration and detection method for effect. The calibration and detection method and the single product calibration and detection method are respectively adopted for calibration and detection, and the calibration and detection time and the zero point detection result are respectively acquired as shown in the following table:
TABLE 1 Single and multichannel calibration test time comparison
| Calibration and detection mode | Calibration time/min | Detection time/min | 16 completion times |
| Single branch | 30 | 30 | 16h |
| Multi-channel | 35 | 35 | 1h10min |
TABLE 2 comparison of single and multichannel zero detection results
Compared with the prior art, the three-dimensional angle sensor calibration and detection system provided by the invention can realize two procedures of three-dimensional calibration and detection without changing the axial installation position, and provides a convenient and efficient calibration and detection method.
The three-dimensional angle sensor calibration and detection system can simultaneously calibrate and detect a plurality of three-dimensional angle sensors, improves the consistency of products, reduces the cost, improves the calibration and detection efficiency, and reduces the comparison error of zero detection results by 40 percent as can be seen from experimental data.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. Three-dimensional angle sensor calibration detecting system, its characterized in that includes:
the angle testing rotary table (4) is used for mounting a plurality of three-dimensional angle sensors and controlling the three-dimensional angle sensors to rotate in three dimensions;
the data acquisition device (2) is used for acquiring data output by a plurality of three-dimensional angle sensors arranged on the angle testing rotary table (4);
and the upper computer (1) is used for receiving the data acquired by the data acquisition device (2), calibrating and detecting the three-dimensional angle sensor, and controlling the rotation state of the angle testing rotary table (4).
2. The three-dimensional angle sensor calibration detection system according to claim 1, further comprising:
and the signal wire (3) is used for being in communication connection with the angle testing rotary table (4) and the upper computer (1) and is used for being in communication connection with the data acquisition device (2) and the upper computer (1).
3. The three-dimensional angle sensor calibration detection system according to claim 1, characterized in that the angle testing turret (4) comprises:
the driving device is in communication connection with the upper computer (1);
the rotary mounting platform is provided with a plurality of mounting stations, the mounting stations are used for mounting the three-dimensional angle sensor, and the rotary mounting platform is driven by the driving device to rotate in three dimensions.
4. The three-dimensional angle sensor calibration detection method is characterized by comprising the following steps:
installing a three-dimensional angle sensor in the three-dimensional angle sensor calibration detection system according to any one of claims 1 to 3, and entering a calibration process;
in the calibration process, the three-dimensional angle sensor is electrified;
acquiring a calibration determination signal of at least one axis;
when the calibration determination signal of at least one axis is within a preset calibration parameter range, calibrating an angle threshold value set by the corresponding switching value signal;
determining whether there is a calibration completion determination signal of a plurality of channels after the calibration of one axis is completed;
if a multi-channel calibration completion determination signal exists, entering a detection process;
in the detection process, obtaining a detection determination signal of at least one axis;
when the detection determination signal of at least one axis is within the preset detection parameter range, detecting an angle threshold value set by the corresponding switching value signal;
determining whether a multi-channel detection completion determination signal exists after the detection of one axis is completed;
and if the multi-channel detection completion determination signal exists, ending the detection flow.
5. The three-dimensional angle sensor calibration detection method of claim 4, wherein the acquiring the calibration determination signal of at least one axis comprises:
determining directions of an X axis, a Y axis and a Z axis and the calibration parameters;
determining whether a channel needing to be calibrated exists within a preset time after the three-dimensional angle sensor is electrified;
if a channel needing to be calibrated exists, determining a calibration channel where the three-dimensional angle sensor is located;
after the calibration channel is determined, it is determined whether a calibration determination signal for at least one axis is acquired.
6. The calibration detecting method for three-dimensional angle sensor according to claim 4, wherein the calibrating the angle threshold value set by the corresponding switching value signal when the calibration determining signal of at least one axis is within the preset calibration parameter range comprises:
determining whether the calibration determination signal of the at least one axis is within a preset calibration parameter range;
if the calibration determination signal of at least one axis is within the preset calibration parameter range, determining calibration data according to the axial priority, and calibrating an angle threshold set by the corresponding switching value signal;
correcting the calibration parameters if the calibration determination signal of at least one axis is not within the preset calibration parameter range;
acquiring a calibration determination signal of at least one axis on the basis of the corrected calibration parameter;
and performing unidirectional calibration on the three-dimensional angle sensor according to the axial priority by adopting a sensor sectional calibration method.
7. The three-dimensional angle sensor calibration detecting method according to claim 4, wherein before determining whether there is a calibration completion determination signal of a plurality of channels after the calibration of one axis is completed, further comprising:
determining whether a calibration of an axis is complete;
determining whether there is a calibration completion determination signal of multiple channels if the calibration of one axis has been completed;
if the calibration of one axis is not complete, the calibration of the next axis is performed.
8. The calibration detecting method for the three-dimensional angle sensor according to claim 4, wherein the acquiring a detection determination signal of at least one axis in the detecting process includes:
determining the directions of an X axis, a Y axis and a Z axis and the detection parameters;
determining whether a channel needing to be detected exists within a preset time after entering a detection process;
if a channel needing to be detected exists, determining a detection channel where the three-dimensional angle sensor is located;
after the detection channel is determined, it is determined whether a detection determination signal of at least one axis is acquired.
9. The calibration detecting method of the three-dimensional angle sensor according to claim 4, wherein the detecting the angle threshold value set by the corresponding switching value signal when the detection determination signal of at least one axis is within the preset detection parameter range comprises:
determining whether the detection determination signal of at least one axis is within a preset detection parameter range;
if the detection determination signal of at least one axis is in the preset detection parameter range, determining detection data according to the axial priority, and detecting an angle threshold value set by the corresponding switching value signal;
if the detection determination signal of at least one axis is not in the preset detection parameter range, correcting the detection parameter;
acquiring a detection determination signal of at least one axis on the basis of the corrected detection parameter;
and carrying out unidirectional detection on the three-dimensional angle sensor according to the axial priority.
10. The three-dimensional angle sensor calibration detecting method according to claim 4, wherein before determining whether there is a detection completion determining signal of multiple channels after the detection of one axis is completed, further comprising:
determining whether the detection of one axis is completed;
determining whether there is a multi-channel test completion determination signal if the test of one axis has been completed;
if the detection of one axis is not completed, the detection of the next axis is performed.
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