CN110174213B - Calibration method of flexible pressure sensing array - Google Patents
Calibration method of flexible pressure sensing array Download PDFInfo
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- CN110174213B CN110174213B CN201910455755.3A CN201910455755A CN110174213B CN 110174213 B CN110174213 B CN 110174213B CN 201910455755 A CN201910455755 A CN 201910455755A CN 110174213 B CN110174213 B CN 110174213B
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- 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
Abstract
The invention relates to the technical field of pressure sensing, in particular to a calibration method of a flexible pressure sensing array. The calibration method of the flexible pressure sensing array comprises the following steps: sequentially applying a plurality of pressures with different sizes to the whole flexible pressure sensing array to obtain a response characteristic value of each pixel point under each pressure; obtaining a basic calibration formula of each pixel point; providing a compensating calibration function: obtaining a compensation calibration formula of each pixel point; and calculating the product of the basic calibration formula and the compensation calibration formula of each pixel point, and taking the product as the calibration formula of the pixel point. The invention improves the calibration precision of a single pixel point, ensures the accuracy of the measurement result of the flexible pressure sensing array and improves the performance of the flexible pressure sensing array.
Description
Technical Field
The invention relates to the technical field of pressure sensing, in particular to a calibration method of a flexible pressure sensing array.
Background
The flexible pressure sensing array can detect the position distribution condition of pressure and the pressure in each area, can be applied to the fields of wearable electronic equipment, environment monitoring, human-computer interaction interfaces, electronic skins and the like, and has wide application prospects.
However, the detection accuracy of the flexible pressure sensing array in the use process cannot be maintained for a long time due to the defects of creep, inconsistency, attenuation and the like of the flexible pressure sensing array. However, the detection accuracy is a key factor for measuring the performance of the flexible pressure sensing array, and therefore, the measurement accuracy is mainly ensured by periodically calibrating the flexible pressure sensing array at present.
The conventional way of calibration is to fit a characteristic curve for each sensor in the flexible pressure sensing array based on the response characteristics of the entire sensing area of the array after multiple applications of pressure. However, in actual use, it is often the case that a partial region of the flexible pressure sensing array is subjected to force, rather than the entire sensing region. The change of the stressed area can cause the change of the crosstalk characteristics of the sensor in the aspects of mechanics and electricity, so that the condition during calibration is different from the condition in the actual use process, and the deviation of the final measurement result is caused.
Therefore, how to improve the calibration method of the flexible pressure sensing array and improve the calibration precision to ensure the accuracy of the measurement result of the flexible pressure sensing array is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention provides a calibration method of a flexible pressure sensing array, which is used for solving the problem of lower calibration precision of the existing calibration method, so as to ensure the accuracy of the measurement result of the flexible pressure sensing array and improve the performance of the flexible pressure sensing array.
In order to solve the above problems, the present invention provides a calibration method for a flexible pressure sensing array, where the flexible pressure sensing array includes a plurality of sensors arranged in an array, and each sensor is used as a pixel point, including the following steps:
sequentially applying a plurality of pressures with different sizes to the whole flexible pressure sensing array to obtain a response characteristic value of each pixel point under each pressure;
fitting a response characteristic curve of each pixel point according to a plurality of response characteristic values of each pixel point under a plurality of pressures to obtain a basic calibration formula of each pixel point;
providing a compensating calibration function as follows:
in the formula, Y1A function value representing the compensation calibration function, aiB are all function coefficients, X0Representing a response characteristic value, X, of a pixeliIs at the same said pressure as X0Response characteristic values of pixel points adjacent to the corresponding pixel points;
substituting the response characteristic value of one pixel point and the response characteristic value of a pixel point adjacent to the pixel point into the compensation calibration function, and enabling the value Y of the compensation calibration function1To 1, obtaining each of said imagesA compensation calibration formula of the prime point;
and calculating the product of the basic calibration formula and the compensation calibration formula of each pixel point, and taking the product as the calibration formula of the pixel point.
Preferably, the response characteristic value type is a capacitance type, a current type, a resistance type, or a voltage type.
Preferably, the specific steps of sequentially applying a plurality of pressures to the entire flexible pressure sensing array include:
placing the flexible pressure sensing array on the surface of a rigid horizontal table;
providing a rigid pressure plate having an area greater than or equal to an area of the flexible pressure sensing array;
applying the pressure to the entire flexible pressure sensing array through the rigid pressure plate.
Preferably, the specific step of applying said pressure to the entire flexible pressure sensing array via said rigid pressure plate comprises:
the rigid pressure plate applies the same pressure to the whole flexible pressure sensing array for multiple times, and for each pixel point, the average value of response characteristic values under the same pressure for multiple times is used as the response characteristic value of the pixel point under the pressure.
Preferably, the number of the plurality of pressures having different magnitudes is 5 or more.
Preferably, the specific step of obtaining the basic calibration formula of each pixel point includes:
performing the response characteristic curve fitting on each pixel point by adopting a plurality of different data fitting modes to obtain a plurality of fitting curves aiming at each pixel point;
and selecting the fitting curve with the maximum decision coefficient as a basic calibration formula of the pixel point.
Preferably, the plurality of different data fitting means includes linear fitting and curve fitting; the curve fitting includes exponential function fitting, polynomial function fitting, logarithmic function fitting, power exponential function fitting, trigonometric function fitting, and inverse trigonometric function fitting.
Preferably, the algorithm of the data fitting is a least square method or a maximum likelihood estimation method.
Preferably, the maximum pressure of the plurality of different pressures is the maximum pressure detectable by the flexible pressure sensing array; the minimum pressure of the plurality of different pressures is the minimum pressure detectable by the flexible pressure sensing array.
Preferably, the flexible pressure sensing array is a thin film type pressure sensing array or a fiber woven type pressure sensing array.
According to the calibration method of the flexible pressure sensing array, aiming at the calibration of each pixel point, the influence of other pixel points adjacent to each pixel point on the pixel point is comprehensively considered on the basis of a basic calibration formula, and the product of a compensation calibration formula and the basic calibration formula is used as a final calibration formula of one pixel point, so that the crosstalk error caused by the fact that the stress of the whole sensing area of the flexible pressure sensing array is different from the local stress of the sensing area during actual detection in the prior art during calibration is avoided, the calibration precision of a single pixel point is improved, the accuracy of the measurement result of the flexible pressure sensing array is ensured, and the performance of the flexible pressure sensing array is improved.
Drawings
FIG. 1 is a flow chart of a method for calibrating a flexible pressure sensing array in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flexible pressure sensing array calibration configuration in accordance with an embodiment of the present invention;
FIG. 3 is a fitting curve graph of a basic calibration formula for a pixel point according to an embodiment of the present invention.
Detailed Description
The following describes in detail a specific embodiment of the calibration method for a flexible pressure sensing array according to the present invention with reference to the accompanying drawings.
The present embodiment provides a calibration method for a flexible pressure sensing array, fig. 1 is a flowchart of the calibration method for the flexible pressure sensing array in the present embodiment, and fig. 2 is a schematic structural diagram of a flexible pressure sensing array in the present embodiment when calibrating. As shown in fig. 1 and 2, the flexible pressure sensing array 21 includes a plurality of sensors arranged in an array, and each of the sensors serves as a pixel 22. The calibration method for the flexible pressure sensing array provided by the specific embodiment comprises the following steps:
step S11, sequentially applying a plurality of pressures with different magnitudes to the whole flexible pressure sensing array 21, and obtaining a response characteristic value of each pixel point 22 under each pressure.
The term "plurality" as used in the present embodiment means two or more.
Preferably, the specific steps of sequentially applying a plurality of pressures to the entire flexible pressure sensing array 21 include:
placing the flexible pressure sensing array 21 on the surface of a rigid horizontal table 20;
providing a rigid pressure plate 23, the area of the rigid pressure plate 23 being greater than or equal to the area of the flexible pressure sensing array 21;
the pressure is applied to the entire flexible pressure sensing array 21 by the rigid pressure plate 23.
The dotted lines in fig. 2 represent pixels that are not visible at this angle. The specific type of the flexible pressure sensing array 21 is not limited in this embodiment, for example, the flexible pressure sensing array 21 is a film type pressure sensing array or a fiber woven type pressure sensing array. The type of the sensors in the flexible pressure sensing array 21 may be a capacitive type, a resistive type, a piezoelectric type, a triboelectric type, or a thin film transistor type. Accordingly, the response characteristic value type is a capacitance type, a current type, a resistance type, or a voltage type. The flexible pressure sensing array 21 has a sensing area, and all the pixel points 22 are arranged in the sensing area in an array.
To ensure that the same amount of pressure is applied to each pixel in the flexible pressure sensing array 21, and further ensure the calibration accuracy, the present embodiment places the flexible pressure sensing array 21 on the surface of a rigid horizontal stage 20 as shown in fig. 2 during the calibration process. The rigid horizontal table 20 is further provided with a height adjuster 25 and a pressure indicator 24, and the pressure indicator 24 is arranged above the flexible pressure sensing array 21 in a direction perpendicular to the rigid horizontal table 20 and is used for adjusting and displaying the value of the pressure applied by the rigid pressure plate 23 to the whole flexible pressure sensing array 21. The rigid pressure plate 23 is fixedly attached below the pressure dial 24. The height adjuster 25 is connected to the pressure indicator 24 and is used for driving the pressure indicator 24 to move up and down along the vertical direction (i.e. the direction perpendicular to the rigid horizontal table 20) so as to adjust the height of the rigid pressure plate 23. The specific structure of the height adjuster 25 can be set by those skilled in the art according to actual needs, as long as the height adjustment of the rigid pressure plate 23 can be achieved. In order to simplify the structure of the calibrating device, it is preferable that the height adjuster 25 includes a lifting column and a connecting rod, one end of which is connected to the lifting column and the other end of which is connected to the pressure gauge 24. The lifting motion of the lifting column along the vertical direction drives the rigid pressure plate 23 to move along the vertical direction, so as to adjust the distance between the rigid pressure plate 23 and the flexible pressure sensing array 21.
Preferably, the specific steps of applying the pressure to the entire flexible pressure sensing array 21 via the rigid pressure plate 23 include:
the rigid pressure plate 23 applies the same pressure to the whole flexible pressure sensing array 21 for a plurality of times, and for each pixel point 22, an average value of response characteristic values under the same pressure for a plurality of times is used as the response characteristic value of the pixel point 22 under the pressure.
The specific number of different pressures to be applied to the entire flexible pressure sensing array 21 can be selected by one skilled in the art according to actual needs. In order to further improve the calibration accuracy, it is preferable that the number of the plurality of pressures having different magnitudes is 5 or more.
Preferably, the maximum pressure of the plurality of different pressures is the maximum pressure that can be detected by the flexible pressure sensing array 21; the minimum pressure of the plurality of different pressures is the minimum pressure that can be detected by the flexible pressure sensing array 21. The other of said pressures being distributed between said maximum pressure and said minimum pressure.
For example, five pressure values of P1, P2, P3, P4 and P5 are provided in descending order, where P1 is the minimum pressure detectable by the flexible pressure sensing array 21 and P5 is the maximum pressure detectable by the flexible pressure sensing array. The pressure with the size of P1 is applied to the whole sensing area of the flexible pressure sensing array 21 multiple times (i.e. more than two times) by adjusting the height adjuster 25 and the pressure indicator 24. For each of the pixels 22, a response characteristic value is obtained each time the P1 pressure is applied. And adopting an averaging method to take the average value of the response characteristic values obtained by a pixel point for multiple times as the response characteristic value of the pixel point under the pressure of P1. By the same method, response characteristic values of each pixel point under the pressures of P2, P3, P4 and P5 can be obtained. According to the embodiment, the response characteristic value of one pixel point under one pressure is obtained through a method of measuring for multiple times and averaging, so that the measurement error is reduced, and the calibration precision is further improved.
Step S12, fitting the response characteristic curve of each pixel point 22 according to the plurality of response characteristic values of the pixel point under the plurality of pressures, to obtain a basic calibration formula of each pixel point.
Preferably, the specific step of obtaining the basic calibration formula of each pixel point includes:
performing the response characteristic curve fitting on each pixel point 22 by adopting a plurality of different data fitting modes to obtain a plurality of fitting curves for each pixel point 22;
the fitting curve with the largest decision coefficient is selected as the basic calibration formula for the pixel point 22.
Preferably, the plurality of different data fitting means includes linear fitting and curve fitting; the curve fitting includes exponential function fitting, polynomial function fitting, logarithmic function fitting, power exponential function fitting, trigonometric function fitting, and inverse trigonometric function fitting.
Preferably, the algorithm of the data fitting is a least square method or a maximum likelihood estimation method.
Specifically, for each pixel point, a plurality of different fitting curves can be adopted, and a least square method or a maximum likelihood estimation method is used for fitting a response characteristic curve, so that a plurality of fitting curves are obtained; and then, comparing the decision coefficients of the fitting curves, selecting the fitting curve which is most approximate to each response characteristic value of the pixel point as a final fitting curve of the pixel point, and taking a function formula corresponding to the fitting curve as a basic calibration formula of the pixel point.
The process of data fitting in this embodiment is to change the coefficients in the function (i.e., the fitting curve) to make the function curve approach all the test data points of the pixel point as much as possible (i.e., a plurality of response characteristic values corresponding to a plurality of different pressures one to one), and the degree of the approximation can be determined by the decision coefficients after fitting (the higher the decision coefficient is, the higher the approximation degree is, the better the fitting effect is), so as to obtain the best fitting function (including the specific coefficients in the function).
Step S13, providing a compensation calibration function as follows:
in the formula, Y1A function value representing the compensation calibration function, aiB are all function coefficients, X0Representing a response characteristic value, X, of a pixeliIs at the same said pressure as X0And response characteristic values of the adjacent pixels of the corresponding pixels.
Step S14, the response characteristic value of one pixel 22 and the response characteristic value of a pixel 22 adjacent to the pixel 22 are substituted into the compensation calibration function, and the value Y of the compensation calibration function is assigned1To 1, a compensation calibration formula for each of the pixels 22 is obtained.
Specifically, let Y be for each of the pixel points 2211 is ═ 1, i.e
And taking the response characteristic value of the pixel point measured under a pressure and the response characteristic values of the surrounding pixel points adjacent to the pixel point under the same pressure as a group of compensation calibration data, and obtaining a plurality of groups of compensation calibration data in total. Sequentially substituting the multiple groups of compensation calibration data into the compensation calibration function, and obtaining a function coefficient a in the compensation function through calculation or approximationiAnd b, obtaining the compensation calibration formula of the pixel point.
In this embodiment, for the pixel point located in the middle of the flexible sensing array 21, the pixel points adjacent to the pixel point include four pixel points located on the upper side, the lower side, the left side and the right side of the pixel point (i.e. X)iIs at the same said pressure, located at X0Response characteristic values of four pixel points on the upper side, the lower side, the left side and the right side of the corresponding pixel point); for the pixel points located at the boundary of the flexible sensing array 21, the pixel points adjacent to the pixel point include the pixel points located at two or three positions of the upper side, the lower side, the left side and the right side of the pixel point (namely, XiIs at the same said pressure, located at X0Response characteristic values of two or three of the upper side, the lower side, the left side and the right side of the corresponding pixel point), for example, for the pixel point located at the right lower corner of the flexible sensing array 21, the pixel point adjacent thereto includes two pixel points located at the left side and the upper side thereof.
Step S15, calculate the product of the basic calibration formula and the compensation calibration formula of each pixel 22, and use the product as the calibration formula of the pixel.
FIG. 3 is a fitting curve graph of a basic calibration formula for a pixel point according to an embodiment of the present invention. For example, if the number of the pressure is 5, each of the pixel points passes the test5 response characteristic values are obtained. The response characteristic value is a capacitance difference value, and the fitting curve is an exponential function Y0A × exp (-X/B) + C, wherein A, B, C is a coefficient of function. And the capacitance difference value is the difference value between the capacitance value detected by the pixel point and the initial capacitance value of the pixel point after the pressure is applied. The abscissa in fig. 3 represents the capacitance difference, the test point 30 represents the response characteristic value of a pixel point under a pressure in the calibration process, and the surface of the curve 31 is fitted with the exponential function to obtain an optimal fit curve. By fitting, the values of the function coefficients A, B, C in the exponential function are: 72.645, -248.3, -73.94. Thus, the basic calibration formula for obtaining the pixel point is as follows: y is0＝72.645*exp(X/248.3)-73.94。
Sequentially substituting the response characteristic values of the pixel points measured under different pressures into the compensation calibration function, and enabling the function value Y of the compensation calibration function1Is 1, and is calculated or approximated to have a value of-1.6234, a1、a2、a3、a4The values of (a) are 0.369872, 0.149765, 1.075986, 1.007117, respectively. Wherein, a1、a2、a3、a4And respectively representing the function coefficients corresponding to the pixel points positioned at the upper side, the lower side, the left side and the right side of the pixel point. The final calibration formula of the pixel point is as follows:
wherein, X1, X2, X3, and X4 respectively represent response characteristic values of pixels located at the upper side, lower side, left side, and right side of the pixel.
The application of pressure, the fitting of data, and the calculation of calibration formulas in this embodiment may be implemented by numerical control and computer.
In the calibration method for the flexible pressure sensing array provided by the embodiment, for the calibration of each pixel point, on the basis of the basic calibration formula, the influence of other pixel points adjacent to each pixel point on the pixel point is comprehensively considered, and the product of the compensation calibration formula and the basic calibration formula is used as the final calibration formula for one pixel point, so that the crosstalk error caused by the difference between the stress of the whole sensing area of the flexible pressure sensing array in the prior art and the local stress of the sensing area in the actual detection is avoided, the calibration precision of a single pixel point is improved, the accuracy of the measurement result of the flexible pressure sensing array is ensured, and the performance of the flexible pressure sensing array is improved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A calibration method of a flexible pressure sensing array comprises a plurality of sensors which are arranged in an array, and each sensor is used as a pixel point, and is characterized by comprising the following steps:
sequentially applying a plurality of pressures with different sizes to the whole flexible pressure sensing array to obtain a response characteristic value of each pixel point under each pressure;
fitting a response characteristic curve of each pixel point according to a plurality of response characteristic values of each pixel point under a plurality of pressures to obtain a basic calibration formula of each pixel point;
providing a compensating calibration function as follows:
in the formula, Y1A function value representing the compensation calibration function, aiB are all function coefficients, X0Representing a response characteristic value, X, of a pixeliIs at the same said pressure as X0Pixel point adjacent to corresponding pixel pointThe response characteristic value of (1);
substituting the response characteristic value of one pixel point and the response characteristic value of a pixel point adjacent to the pixel point into the compensation calibration function, and enabling the value Y of the compensation calibration function1Obtaining a compensation calibration formula of each pixel point as 1;
and calculating the product of the basic calibration formula and the compensation calibration formula of each pixel point, and taking the product as the calibration formula of the pixel point.
2. The method of calibrating a flexible pressure sensing array of claim 1, wherein said response characteristic value type is capacitive, current, resistive, or voltage.
3. The method of calibrating a flexible pressure sensing array of claim 1, wherein the step of sequentially applying a plurality of pressures throughout the flexible pressure sensing array comprises:
placing the flexible pressure sensing array on the surface of a rigid horizontal table;
providing a rigid pressure plate having an area greater than or equal to an area of the flexible pressure sensing array;
applying the pressure to the entire flexible pressure sensing array through the rigid pressure plate.
4. The method of calibrating a flexible pressure sensing array of claim 3, wherein said step of applying said pressure to the entire flexible pressure sensing array via said rigid pressure plate comprises:
the rigid pressure plate applies the same pressure to the whole flexible pressure sensing array for multiple times, and for each pixel point, the average value of response characteristic values under the same pressure for multiple times is used as the response characteristic value of the pixel point under the pressure.
5. The method of calibrating a flexible pressure sensing array of claim 1, wherein the number of the plurality of pressures of different magnitudes is greater than 5.
6. The method of calibrating a flexible pressure sensing array of claim 1, wherein the step of obtaining a base calibration equation for each pixel comprises:
performing the response characteristic curve fitting on each pixel point by adopting a plurality of different data fitting modes to obtain a plurality of fitting curves aiming at each pixel point;
and selecting the fitting curve with the maximum decision coefficient as a basic calibration formula of the pixel point.
7. The method of calibrating a flexible pressure sensing array of claim 6, wherein the plurality of different data fitting modalities includes linear fitting and curve fitting; the curve fitting includes exponential function fitting, polynomial function fitting, logarithmic function fitting, power exponential function fitting, trigonometric function fitting, and inverse trigonometric function fitting.
8. The method of calibrating a flexible pressure sensing array of claim 7, wherein the algorithm of the data fitting is a least squares method or a maximum likelihood estimation method.
9. The method of calibrating a flexible pressure sensing array of claim 1, wherein a maximum pressure of a plurality of different said pressures is a maximum pressure detectable by said flexible pressure sensing array; the minimum pressure of the plurality of different pressures is the minimum pressure detectable by the flexible pressure sensing array.
10. The method of calibrating a flexible pressure sensing array of claim 1, wherein said flexible pressure sensing array is a thin film type pressure sensing array or a fiber weave type pressure sensing array.
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| CN111380650B (en) * | 2020-06-01 | 2020-09-18 | 深圳市千分一智能技术有限公司 | Pressure curve calibration method, device, equipment and readable storage medium |
| CN111813260B (en) * | 2020-06-19 | 2021-07-20 | 东南大学 | Method for solving hysteresis error and high-frequency noise error of capacitive touch sensor |
| FR3125587B1 (en) | 2021-07-23 | 2024-02-23 | Commissariat A L’Energie Atomique Et Aux Energies Alternatives | Neural network matrix pressure sensor and calibration method |
| CN113959635A (en) * | 2021-09-02 | 2022-01-21 | 中国科学院合肥物质科学研究院 | Hydraulic type calibration device and method for flexible force-sensitive sensor array |
| CN114459676B (en) * | 2022-01-18 | 2023-05-05 | 同济大学 | Flexible electronic skin array performance detection system |
| CN114705331B (en) * | 2022-04-02 | 2023-12-22 | 深圳国微感知技术有限公司 | Pressure response characteristic curve acquisition method, calibration method and storage medium |
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| JP2012112685A (en) * | 2010-11-22 | 2012-06-14 | Takano Co Ltd | Flexible sensor and controller for evaluating sensor |
| CN103565423A (en) * | 2012-08-01 | 2014-02-12 | 郭福生 | Flexible, micro-array and three-portion precision t pulse testing system |
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| CN105758563A (en) * | 2015-04-03 | 2016-07-13 | 中国医学科学院生物医学工程研究所 | Single-side electrode flexible touch sense sensor array based on electrical impedance distributed measurement |
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