Method and system for automatically, continuously and uniformly calibrating curvature of bending sensor

Abstract

The invention provides a method for automatically, continuously and uniformly calibrating curvature of a bending sensor, which comprises the following steps of: S1, clamping one end of a linear soft body to fix the linear soft body at a set position, arranging a plurality of cavities on one side of the linear soft body, installing a bending sensor to be calibrated on the other side of the linear soft body, and arranging the cavities at intervals along the length direction of the linear soft body and communicating with each other; s2, inflating the linear soft body to bend the linear soft body and drive a bending sensor to bend, measuring the position change of the linear soft body through a distance measuring sensor, and outputting a corresponding electric signal by the bending sensor; s3, calculating a curvature calculation value of linear software bending according to the position change of the linear software; and S4, calibrating an electric signal output by the bending sensor according to the curvature calculation value. The method has the beneficial effects that the curvature of the linear soft body is uniformly changed as a bending model, and the bending curvature of the linear soft body can be continuously sampled, so that the continuous calibration of the bending sensor is realized, the calibration precision is improved, and the curvature calibration range is expanded.

Description

technical field [0001] The invention relates to the technical field of bending sensor calibration, in particular to a method and system for automatically, continuously and uniformly calibrating curvature of a bending sensor. Background technique [0002] Bending sensors are commonly used sensors in the field of curvature measurement. Due to their high sensitivity, small size, and easy integration, they are widely used in various fields such as intelligent robots, wearable devices, and rehabilitation medical testing. The output result of the bending sensor is usually output in the form of an electrical signal, and the user calculates the actual curvature value through the electrical signal output by the bending sensor. That is, the bending sensor cannot directly output the curvature value, but needs to convert the corresponding relationship between the electrical signal and the curvature value. Therefore, in order to obtain accurate and reliable curvature values, it is neces...

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Problems solved by technology

On the one hand, due to comprehensive reasons (such as cost, required size, power consumption, service life, etc.) in actual use, it is impossible to guarantee the use of the bending sensor of the above type, that is, it is impossible to guarantee that the relationship between the electrical signal indication and the angle of the sensor used is approximately a linear function , so the above method is not universal; on the other hand, the relationship between the electrical signal and the angle is not an accurate linear function. In the occasions that require high precision, the above calibration method still has a large error

[0006]At the same time, most of the existing manual calibration methods only calibrate the local curvature of the bending sensor, but in fact, in order to obtain more accurate data, the overall bending sensor should be uniform After bending, calibration is performed, but it is difficult for existing calibration methods to do this

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