CN-122016131-A - Three-dimensional force measurement method and system based on normal pressure array

CN122016131ACN 122016131 ACN122016131 ACN 122016131ACN-122016131-A

Abstract

The invention relates to the technical field of pressure sensors, and provides a three-dimensional force measurement method and system based on a normal pressure array, wherein an elastic layer with preset model parameters is arranged on a normal pressure array sensor, and preset pressure is applied to the elastic layer, so that the resultant force and the center offset of pressure of the normal pressure array sensor are obtained, and corresponding tangential force is obtained according to the resultant force and the center offset of pressure; in order to ensure the measurement accuracy of tangential force, the model parameters are calibrated and preset through calibration, so that the model parameters are more accurate, the three-dimensional force measurement accuracy is improved, and the thickness of the whole sensor measurement mode can be effectively controlled, so that the sensor is convenient to be installed in narrow spaces such as soles for measuring related parameters, and the application range is wider.

Inventors

CHEN LIYANG
YU XIANGYU

Assignees

悟通感控(北京)科技有限公司
悟通感控(山东)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. A method of three-dimensional force measurement based on a normal pressure array, comprising: S100, arranging an elastic layer with preset model parameters on a normal force array sensor, wherein the preset model parameters are determined through calibration of test data; s200, applying preset pressure to the elastic layer, and acquiring pressure resultant force and pressure center offset of the normal force array sensor; S300, obtaining corresponding tangential force according to the resultant pressure force and the pressure center offset.
2. The method of claim 1, wherein in step S100, the preset model parameters of the elastic layer include a first model and a second model; The first model comprises a pressure center offset formula after tangential force is applied is d= (F Cutting and cutting /S) e/G, wherein e is the thickness of an elastic layer, G is shear modulus, S is a pressing area, and F Cutting and cutting is tangential force; The second model comprises F Method of *d=F Cutting and cutting e, wherein F Method of is the resultant pressure force and d is the pressure center offset; and combining the first model and the second model to obtain F Cutting and cutting =(A（F Method of /e) +B (S G/e)). D, wherein A is a first coefficient of the first model, and B is a second coefficient of the second model.
3. The method of three-dimensional force measurement based on normal pressure arrays according to claim 2, wherein the shear modulus G is calculated by the following formula: ; where E is Young's modulus and v is Poisson's ratio.
4. The method according to claim 2, wherein in step S200, the resultant pressure force is measured by each detection point of the normal force array sensor, and the pressure center offset is calculated by the pressure value of each detection point.
5. The method for measuring three-dimensional force based on normal pressure array according to claim 2, wherein before step S100, the method further comprises calibrating the preset model parameters by test data, wherein the calibration process specifically comprises: s101, obtaining two test samples with the same size in an elastic layer with preset model parameters; S102, placing two test samples at preset positions of a calibration device and applying horizontal pressure to enable weights with different masses to be clamped between the two test samples respectively; s103, obtaining horizontal pressure corresponding to weights with different masses through a spoke force meter; S104, using the horizontal pressure and weight quality as variables, and obtaining a first coefficient corresponding to the first model and a second coefficient corresponding to the second model through a regression algorithm and data fitting; s105, calibrating the first model and the second model according to the first coefficient and the second coefficient respectively, so as to obtain calibrated preset model parameters.
6. The method according to claim 5, wherein in step S104, using the horizontal pressure and weight quality as variables, obtaining a first coefficient corresponding to the first model and a second coefficient corresponding to the second model by regression algorithm and data fitting, comprises: Taking the weight mass as tangential force and the horizontal pressure as resultant force, so that tangential force and normal force are taken as bivariate, and deducing and analyzing by a regression algorithm; and resolving the first coefficient and the second coefficient through actual data obtained through calibration, so as to obtain a corresponding first coefficient A and a corresponding second coefficient B.
7. The method according to claim 6, wherein in step S105, the first model and the second model are calibrated according to the first coefficient and the second coefficient, respectively, so as to obtain calibrated preset model parameters, which includes: Substituting the first coefficient A and the second coefficient B into a comprehensive model F Cutting and cutting =(A（F Method of /e) +B (S G/e)). D, thereby obtaining a calibrated preset parameter model.
8. The three-dimensional force measurement method based on the normal pressure array according to claim 5, wherein the calibration device specifically comprises a U-shaped support, a pressing block, weights, a connecting rod and a handle, wherein the connecting rod is horizontally arranged and is in threaded connection with the side wall of the U-shaped support, one end of the connecting rod is connected with the pressing block, and the other end of the connecting rod is connected with the handle; One of the two test samples is positioned at one side of the pressing block far away from the connecting rod, the other test sample is positioned at the inner side of the side wall of the U-shaped support, and the connecting rod is rotated to drive the pressing block to move, so that the weight is clamped between the two test samples, and the tightening degree of the connecting rod determines the horizontal pressure.
9. The method for three-dimensional force measurement based on a normal pressure array according to claim 2, wherein, When the shearing pressure is less than 0.5Mpa, the elastic layer is made of a material with the hardness of 10-30A, and the Young modulus is less than 1Mpa; When the shearing pressure is greater than 0.5Mpa, the elastic layer is made of a material with the hardness of 40-100A, wherein the shearing pressure=F Cutting and cutting /S.
10. A three-dimensional force measurement system based on a normal pressure array, comprising: The normal force array sensor is provided with an elastic layer, and the elastic layer specifically presets model parameters; A pressing unit for applying a preset pressure to the elastic layer; The control unit is respectively connected with the normal force array sensor and the offset detection unit and is used for applying preset pressure to the elastic layer, obtaining resultant pressure force and center offset of pressure applied to the normal force array sensor and obtaining corresponding tangential force according to the resultant pressure force and the center offset of pressure, wherein preset model parameters are prestored in the control unit, the normal force array sensor is used for obtaining pressure of each detection point, the sum of data of all the detection points can be regarded as resultant pressure, and the center offset of pressure is obtained by data change of each detection point.

Description

Three-dimensional force measurement method and system based on normal pressure array Technical Field The invention relates to the technical field of pressure sensors, in particular to a three-dimensional force measurement method and system based on a normal pressure array. Background Three-dimensional force sensors are used to measure the contact force of an object in three dimensions, and typically include three orthogonal force components. Most of the existing three-dimensional force measurement methods require special structures, such as hemispherical knots, and the method needs to be pressed at a specific position to resolve the correct three-dimensional force. Or by magnetic induction, longitudinal structure, etc., but this can result in excessive sensor thickness that is not conducive to installation in a confined space. Disclosure of Invention The invention aims to provide a three-dimensional force measurement method and system based on a normal pressure array, which are used for solving the technical problem that the measurement accuracy of the existing three-dimensional force measurement method is not high. In a first aspect, the present invention provides a method for three-dimensional force measurement based on a normal pressure array, comprising: S100, arranging an elastic layer with preset model parameters on a normal force array sensor, wherein the preset model parameters are determined through calibration of test data; s200, applying preset pressure to the elastic layer, and acquiring pressure resultant force and pressure center offset of the normal force array sensor; S300, obtaining corresponding tangential force according to the resultant pressure force and the pressure center offset. Optionally, in step S100, the preset model parameters of the elastic layer include a first model and a second model; The first model comprises a pressure center offset formula after tangential force is applied is d= (F Cutting and cutting /S) e/G, wherein e is the thickness of an elastic layer, G is shear modulus, S is a pressing area, and F Cutting and cutting is tangential force; The second model comprises F Method of *d=F Cutting and cutting e, wherein F Method of is the resultant pressure force and d is the pressure center offset; and combining the first model and the second model to obtain F Cutting and cutting =(A（F Method of /e) +B (S G/e)). D, wherein A is a first coefficient of the first model, and B is a second coefficient of the second model. Alternatively, the shear modulus G is calculated by the following formula: ; where E is Young's modulus and v is Poisson's ratio. Optionally, in step S200, the resultant pressure force is measured by each detection point of the normal force array sensor, and the pressure center offset is calculated by the pressure value of each detection point. Optionally, before step S100, the method further comprises calibrating the preset model parameters through test data, wherein the calibration process specifically comprises the following steps: s101, obtaining two test samples with the same size in an elastic layer with preset model parameters; S102, placing two test samples at preset positions of a calibration device and applying horizontal pressure to enable weights with different masses to be clamped between the two test samples respectively; s103, obtaining horizontal pressure corresponding to weights with different masses through a spoke force meter; S104, using the horizontal pressure and weight quality as variables, and obtaining a first coefficient corresponding to the first model and a second coefficient corresponding to the second model through a regression algorithm and data fitting; s105, calibrating the first model and the second model according to the first coefficient and the second coefficient respectively, so as to obtain calibrated preset model parameters. Optionally, in step S104, using the horizontal pressure and weight quality as variables, obtaining a first coefficient corresponding to the first model and a second coefficient corresponding to the second model through a regression algorithm and data fitting, including: Taking the weight mass as tangential force and the horizontal pressure as resultant force, so that tangential force and normal force are taken as bivariate, and deducing and analyzing by a regression algorithm; and resolving the first coefficient and the second coefficient through actual data obtained through calibration, so as to obtain a corresponding first coefficient A and a corresponding second coefficient B. Optionally, in step S105, calibrating the first model and the second model according to the first coefficient and the second coefficient, so as to obtain calibrated preset model parameters, including substituting the first coefficient a and the second coefficient B into a comprehensive model F Cutting and cutting =(A（F Method of /e) +b (s×g/e))×d, so as to obtain a calibrated preset parameter model. The calibration