Sensor calibration method and device, data measurement method and device, equipment and storage medium
A calibration method and sensor technology, which is applied in the field of data measurement, can solve the problems of inability of sensors to detect external forces and moments, and different measurement values, and achieve the effect of accurate and direct detection of external forces and moments
Active Publication Date: 2020-05-22
TENCENT TECH (SHENZHEN) CO LTD
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Problems solved by technology
[0004] However, the force sensor will be affected by various factors such as its own weight and the weight of the load during actual use, so that its measured values in different postures are not the same
Therefore, the current method of calibrating the force sensor cannot enable the force sensor to accurately detect external forces and moments
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[0041] In order to make the purpose, technical solutions and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings. All other embodiments obtained under the premise of creative labor belong to the scope of protection of this application.
[0042] In the following description, references to "some embodiments" describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or a different subset of all possible embodiments, and Can be combined with each other without conflict. Unless otherwise defined, all technical and scientific terms used in the embodiments of the present application have the same meaning as commonly understood by those skilled in the technical field of the embodiments of the present application. The terms used in the embodiments of the present application are only for the purpose of describing the embodiments of the pres...
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The embodiment of the invention provides a sensor calibration method and device, a data measurement method and device, equipment and a storage medium. The sensor calibration method comprises the steps: obtaining the gravity of a sensor and static force obtained through measurement when the sensor is in a static state and has no external force effect; performing equivalent calibration processing onthe gravity and the static force to obtain a calibrated static force; acquiring a dynamic force measured when the sensor is in a motion state and has no external force; performing null drift processing on the dynamic force according to the calibrated static force to obtain a calibrated dynamic force; and taking the calibrated dynamic force as a calibration parameter for calibration when the sensor performs external force measurement so as to obtain the calibrated sensor with the calibration parameter. Thus, calibration processing of the force of the sensor under different attitudes is realized, and the sensor is accurately calibrated.
Description
technical field [0001] The embodiments of the present application relate to the field of data measurement, and relate to but are not limited to a sensor calibration and data measurement method, device, equipment, and storage medium. Background technique [0002] The six-dimensional force sensor is one of the important components of the intelligent manipulator. It is widely used in the docking of the space station cabin in the aerospace field, the force and torque test of the wind power generation device, and the collision detection of the automobile industry. There are more and more applications in industries such as workpiece grinding, polishing, assembly and other industrial applications, as well as in the field of force feedback teleoperation. [0003] At present, when the six-dimensional force sensor is used, when the force sensor is calibrated, the force sensor is directly cleared. [0004] However, the force sensor will be affected by various factors such as its own w...
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IPC IPC(8): G01L25/00
CPCG01L25/00G01L5/226G01L5/16G01L1/146
Inventor 周诚张正友
Owner TENCENT TECH (SHENZHEN) CO LTD