IMU (Inertial Measurement Unit) sensor data calibration method and device and electronic equipment

Abstract

The invention discloses an IMU (Inertial Measurement Unit) sensor data calibration method, an IMU sensor data calibration device and electronic equipment, and relates to the technical field of intelligent technology, in particular to the technical field of IMU sensor data calibration. The specific implementation scheme is as follows: determining whether a current action of a target part of a target object is a preset standard action; and if the current action of the target part is the preset standard action, performing calibration processing on an IMU sensor configured for the target part based on pre-recorded IMU parameter information corresponding to the preset standard action. Namely, when it is detected that the target part of the target object is the preset action, on the basis of the pre-recorded IMU parameter information corresponding to the preset standard action, calibration processing is conducted on the IMU sensor configured on the target part, and therefore the problem that deviation and misalignment are caused by zero offset errors and long-time accumulation can be solved.

Description

Technical Field

[0001] The present disclosure relates to the field of embodied intelligence, and in particular to the technical field of IMU sensor data calibration. Background Art

[0002] In the fields of embodied intelligence and humanoid robots, it is usually necessary to estimate the posture of the target object. Currently, posture estimation is mainly performed through inertial sensors (IMU) and visual recognition. The principle of using the inertial sensor method is as follows: the inertial motion capture system is mainly composed of several measurement nodes, each of which has a nine-axis inertial measurement unit, which will return the measurement information of angular velocity, acceleration and magnetometer during the motion process; then the quaternion is obtained through the algorithm, and then posture recognition (solution) is performed.

[0003] However, inertial motion capture has the following problems: the core of the inertial measurement unit is a MEMS chip, which has zero bias error, and long-term accumulation will cause complete deviation and misalignment. How to solve the deviation and misalignment caused by cumulative error has become a problem. Summary of the invention

[0004] The present invention provides an IMU sensor data calibration method, device and electronic device for solving the problem of deviation and misalignment caused by long-term accumulation of zero bias error.

[0005] In a first aspect of the present disclosure, a method for calibrating IMU sensor data is provided, the method comprising:

[0006] Determine whether the current action of the target part of the target object is a preset standard action;

[0007] If the current action of the target part is a preset standard action, the IMU sensor configured for the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action.

[0008] Optionally, determining whether the current action of the target part of the target object is a preset standard action includes:

[0009] Based on data collected by at least one of the flexible deformation sensors, flexible pressure sensors and EMG sensors configured in the target area, it is determined whether the current action of the target part of the target object is a preset standard action.

[0010] Optionally, determining whether the current action of the target part of the target object is a preset standard action based on data collected by at least one of a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor configured in the target part area includes:

[0011] Based on any one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target area, current data of the target area collected by the any one of the sensors is compared with the sensor data of the any one of the sensors corresponding to each preset standard action in the pre-recorded preset standard action library for consistency;

[0012] If there is consistent comparison data, the current action of the target part of the target object is determined to be a preset standard action.

[0013] Optionally, determining whether the current action of the target part of the target object is a preset standard action based on data collected by at least one of a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor configured in the target part area includes:

[0014] Performing consistency comparison between the current flexible deformation sensor data of the target part collected by the flexible deformation sensor configured in the target part area and the flexible deformation sensor data corresponding to each preset standard action in the pre-recorded preset standard action library;

[0015] If there is consistent flexible deformation sensor data, then further based on the current flexible pressure sensor data and / or EMG sensor data of the target part collected by the flexible pressure sensor and / or EMG sensor configured in the target part area, and the pre-recorded flexible pressure sensor and / or EMG sensor data corresponding to the preset standard action corresponding to the consistent flexible deformation sensor data, consistency comparison is performed;

[0016] If the comparison is consistent, the current action of the target part of the target object is determined to be the preset standard action.

[0017] Optionally, the method further comprises:

[0018] When the predetermined time threshold condition is met, it is detected whether the current action of the target part of the target object is a preset standard action.

[0019] Optionally, the calibrating the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action includes:

[0020] Based on the pre-recorded IMU parameter information corresponding to the preset standard action, the IMU sensor data currently collected by the IMU sensor configured at the target part is compared;

[0021] If the comparison result exceeds the predetermined error range, the IMU sensor data with errors currently collected by the IMU sensor configured at the target part is corrected based on the pre-recorded IMU parameter information corresponding to the preset standard action.

[0022] Optionally, the method further comprises:

[0023] The target object’s attitude is estimated based on the calibrated IMU sensor data.

[0024] A second aspect of the present disclosure provides an IMU sensor data calibration device, characterized in that the device comprises:

[0025] A determination module, used to determine whether the current action of the target part of the target object is a preset standard action;

[0026] The calibration module is used to calibrate the IMU sensor configured for the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action if the current action of the target part is a preset standard action.

[0027] Optionally, the determination module is specifically used to determine whether the current action of the target part of the target object is a preset standard action based on data collected by at least one of the flexible deformation sensors, flexible pressure sensors and EMG sensors configured in the target part area.

[0028] Optionally, the determination module is specifically used to compare the current sensor data of the target part collected by any one of the flexible deformation sensors, flexible pressure sensors and EMG sensors configured in the target part area with the sensor data of any one of the sensors corresponding to each preset standard action in the pre-recorded preset standard action library for consistency;

[0029] If there is consistent comparison data, the current action of the target part of the target object is determined to be a preset standard action.

[0030] Optionally, the determining module includes:

[0031] A first comparison unit is used to compare the current flexible deformation sensor data of the target part collected by the flexible deformation sensor configured in the target part area with the flexible deformation sensor data corresponding to each preset standard action in the pre-recorded preset standard action library;

[0032] A second comparison unit is used for, if there is consistent flexible deformation sensor data, further based on the current flexible pressure sensor data and / or EMG sensor data of the target part collected by the flexible pressure sensor and / or EMG sensor configured in the target part area, and the pre-recorded flexible pressure sensor and / or EMG sensor data corresponding to the preset standard action corresponding to the consistent flexible deformation sensor data, to perform consistency comparison;

[0033] The determination unit is used to determine that the current action of the target part of the target object is a preset standard action if the comparison is consistent.

[0034] Optionally, the device further comprises:

[0035] The detection module is used to detect whether the current action of the target part of the target object is a preset standard action when a predetermined time threshold condition is met.

[0036] Optionally, the calibration module comprises:

[0037] A third comparison unit is used to compare the IMU parameter information corresponding to the preset standard action recorded in advance with the IMU sensor data currently collected by the IMU sensor configured at the target part;

[0038] The correction unit is used to correct the IMU sensor data with errors currently collected by the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action if the comparison result exceeds the predetermined error range.

[0039] Optionally, the device further comprises:

[0040] The estimation module is used to estimate the attitude of the target object based on the calibrated IMU sensor data.

[0041] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method shown in the first aspect of the present disclosure.

[0042] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause a computer to execute the method as shown in the first aspect of the present disclosure.

[0043] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the computer program implements the method shown in the first aspect of the present disclosure.

[0044] The present disclosure provides an IMU sensor data calibration method, including: determining whether the current action of the target part of the target object is a preset standard action; if the current action of the target part is the preset standard action, calibrating the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action. That is, when it is detected that the target part of the target object is a preset action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action, thereby solving the problem of deviation and misalignment caused by long-term accumulation due to the existence of zero bias error.

[0045] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0047] Figure 1 is a flow chart of an IMU sensor data calibration method provided by an embodiment of the present disclosure;

[0048] Figure 2 is a structural schematic diagram of an IMU sensor data calibration device provided in an embodiment of the present disclosure;

[0049] Figure 3 is a block diagram of an electronic device for implementing an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0051] Embodiment 1

[0052] Figure 1 An IMU sensor data calibration method provided by an embodiment of the present disclosure is shown, and the method includes:

[0053] Step S101, determining whether the current action of the target part of the target object is a preset standard action;

[0054] Step S102: If the current action of the target part is a preset standard action, the IMU sensor configured for the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action.

[0055] The disclosed embodiments can be applied to scenarios such as embodied intelligence, where the target object (which can be a humanoid robot or other robot) usually needs to determine the position and posture of the target object through data analysis collected by the configured IMU sensor to guide the next action of the target object. The target action can be the hands, legs, head and other parts of the humanoid robot.

[0056] Specifically, it can be determined by visual recognition or by sensors such as flexible deformation sensors, pressure sensors, etc. configured by the target object itself, as well as other methods that can realize the functions of the disclosed patent to determine whether the current action of the target part of the target object is a preset standard action. If it is determined that the current action of the target part of the target object is a preset standard action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action.

[0057] Exemplarily, the target part of the target object may be instructed in advance to perform a standard action A, and the parameter information of the IMU information when the target object performs the standard action A may be recorded. During use, after a period of time, when it is detected that the target part of the target object performs the preset standard action A again, the parameter information of the IMU sensor recorded at this time is compared with the parameter information of the IMU sensor when the target object performs the standard action A in advance. If the comparison result is inconsistent (outside the predetermined error range), it means that the accumulated zero bias error may cause deviation and inaccuracy, and the parameter information of the IMU information when the target object performs the standard action A in advance needs to be used to calibrate the IMU information at this time; if the comparison result is consistent (within the predetermined error range), no calibration process is required.

[0058] The disclosed embodiment provides an IMU sensor data calibration method, including: determining whether the current action of the target part of the target object is a preset standard action; if the current action of the target part is a preset standard action, calibrating the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action. That is, when it is detected that the target part of the target object is a preset action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action, thereby solving the problem of deviation and misalignment caused by the existence of zero bias error and long-term accumulation.

[0059] The presently disclosed embodiment provides a possible implementation method, wherein step S101 of determining whether the current action of the target part of the target object is a preset standard action specifically includes: determining whether the current action of the target part of the target object is a preset standard action based on data collected by at least one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target part area.

[0060] Traditional metal and semiconductor-based strain sensors are rigid and cannot measure flexible, stretchable objects. Generally speaking, flexible materials are bendable and deformable. Flexible deformation (strain) sensors and flexible pressure sensors also have the aforementioned characteristics. As mentioned earlier, IMU sensors have the disadvantage of zero bias error. In some embodied intelligent robot (target object) application scenarios, the precision of the operation of the target object is required to be high (such as at the fingers of the hand), which makes it impossible to configure too many IMU sensors, otherwise it will affect the flexibility of the operation of the fingers of the hand.

[0061] In order to solve the problem of how to obtain refined posture information of the target part (such as the fingers of the hand), a certain number of flexible sensors, such as flexible deformation (or strain) sensors and flexible pressure sensors, can be configured in the target part area of ​​the target object (such as the fingers). Based on the posture information of the corresponding part obtained by a small number of configured IMU sensors, and then based on the data collected by the flexible sensors (such as flexible deformation sensors and flexible pressure sensors), the position of the configured flexible sensor is determined relative to the confidence deformation amount of the configured IMU sensor, and the posture information of the part where the flexible deformation (or strain) sensor and flexible pressure sensor are configured is obtained by analysis. Such flexible sensors can be used to analyze and obtain more refined posture information, and can also be used to calibrate IMU information.

[0062] In addition, electromyogram (EMG) is an electrophysiological signal generated when muscle tissue contracts. The electromyogram (EMG) signal collected by the EMG sensor, combined with the data collected by the flexible pressure sensor, can be used to analyze the target object's movement (force) strength, speed and other information. The aforementioned EMG signal can be used to analyze the target object's movement (force) strength, speed and other information, and can also be used to calibrate the IMU information.

[0063] Specifically, the target part of the target object can be configured with at least one of a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor. Based on the data collected by one of the sensors, it can be determined whether the current action of the target part of the target object is a preset standard action. Specifically, it can include:

[0064] Based on any one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target area, the current sensor data of the target area collected is compared with the sensor data of any one of the sensors corresponding to each preset standard action in a pre-recorded preset standard action library for consistency; if there is consistent data, the current action of the target area of ​​the target object is determined to be the preset standard action.

[0065] For example, the target part of the target object is instructed to perform action A in advance, and at the same time, deformation data collected by the flexible deformation sensor is recorded. During the subsequent movement of the target object, if the deformation data collected by the flexible deformation sensor is consistent with the pre-recorded deformation data, the movement of the target part of the target object at this moment can be considered to be the preset standard movement.

[0066] Preferably, if only one type of sensor data is used to determine whether it is a preset standard action, a flexible deformation sensor can be used. If the data of the flexible pressure sensor and the EMG sensor are consistent, the possibility that it is a non-standard action is greater than the possibility that the flexible deformation sensor data is consistent but the action is a non-preset standard action (for example, when the palm moves to the right and left, the data collected by the flexible pressure sensor and the EMG sensor may be the same, but the deformation data collected by the flexible deformation sensor is different).

[0067] The disclosed embodiment provides a possible implementation method, which may also be based on multiple sensors, such as a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor, to determine whether the current action of the target part is a preset standard action. It may also be any two, such as a flexible deformation sensor and a flexible pressure sensor, to determine whether the current action of the target part is a preset standard action.

[0068] Specifically, the implementation method using two or three sensors may be: based on the current flexible deformation sensor data of the target part collected by the flexible deformation sensor configured in the target part area, and the flexible deformation sensor data corresponding to each preset standard action in the pre-recorded preset standard action library, a consistency comparison is performed; if there is consistent flexible deformation sensor data, then further based on the current flexible pressure sensor data and / or EMG sensor data of the target part collected by the flexible pressure sensor and / or EMG sensor configured in the target part area, and the pre-recorded flexible pressure sensor and / or EMG sensor data corresponding to the preset standard action corresponding to the consistent flexible deformation sensor data, a consistency comparison is performed;

[0069] If the comparison is consistent, the current action of the target part of the target object is determined to be the preset standard action.

[0070] The disclosed embodiment uses multiple sensor data to determine whether it is a preset standard action. Compared with judging based on only one sensor data, this can avoid the situation where an action is a non-preset standard action, but its sensor data is consistent with the sensor data of a pre-recorded standard action, and the non-standard action is identified as a preset standard action.

[0071] The present disclosure provides a possible method, the method further comprising:

[0072] Step S103 (not shown in the figure), when the predetermined time threshold condition is met, it is detected whether the current action of the target part of the target object is a preset standard action.

[0073] Specifically, a predetermined time threshold can be set based on the estimated time period of deviation caused by the cumulative error of the IMU sensor, and a judgment can be automatically made as to whether the current action of the target object and the target part is a preset standard action, thereby avoiding a large amount of data processing.

[0074] The embodiment of the present disclosure provides a possible method, in step S102, based on the pre-recorded IMU parameter information corresponding to the preset standard action, the IMU sensor configured at the target part is calibrated, including:

[0075] Step S1021 (not shown in the figure), comparing the IMU parameter information corresponding to the preset standard action recorded in advance with the IMU sensor data currently collected by the IMU sensor configured at the target part;

[0076] Step S1022 (not shown in the figure), if the comparison result exceeds the predetermined error range, the IMU sensor data with errors currently collected by the IMU sensor configured at the target part is corrected based on the pre-recorded IMU parameter information corresponding to the preset standard action.

[0077] The embodiments of the present disclosure solve the problem of how to calibrate IMU sensor data.

[0078] The present disclosure provides a possible method, wherein the method further includes:

[0079] Step S104 (not shown in the figure), performing posture estimation of the target object based on the calibrated IMU sensor data.

[0080] The disclosed embodiments perform attitude estimation of a target object based on calibrated IMU sensor data, thereby improving the accuracy of attitude estimation.

[0081] Embodiment 2

[0082] According to a second aspect of the present disclosure, an IMU sensor data calibration device 20 is provided, the device comprising:

[0083] Determination module 201, used to determine whether the current action of the target part of the target object is a preset standard action;

[0084] The calibration module 202 is used to calibrate the IMU sensor configured for the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action if the current action of the target part is a preset standard action.

[0085] Optionally, the determination module 201 is specifically used to determine whether the current action of the target part of the target object is a preset standard action based on data collected by at least one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target part area.

[0086] Optionally, the determination module 201 is specifically used to compare the current sensor data of the target part collected by any one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target part area with the sensor data of any one of the sensors corresponding to each preset standard action in the pre-recorded preset standard action library for consistency;

[0087] If there is consistent comparison data, the current action of the target part of the target object is determined to be a preset standard action.

[0088] Optionally, the determining module 201 includes:

[0089] A first comparison unit 2011 (not shown in the figure) is used to compare the current flexible deformation sensor data of the target part collected by the flexible deformation sensor configured in the target part area with the flexible deformation sensor data corresponding to each preset standard action in the pre-recorded preset standard action library for consistency;

[0090] A second comparison unit 2012 (not shown in the figure) is used to further compare the pre-recorded flexible pressure sensor and / or EMG sensor data corresponding to the preset standard action corresponding to the flexible deformation sensor data that is consistent with the comparison, based on the current flexible pressure sensor data and / or EMG sensor data of the target part collected by the flexible pressure sensor and / or EMG sensor configured in the target part area, if there is consistent flexible deformation sensor data;

[0091] The determination unit 2013 (not shown in the figure) is used to determine that the current action of the target part of the target object is a preset standard action if the comparison is consistent.

[0092] Optionally, the device further comprises:

[0093] The detection module 203 (not shown in the figure) is used to detect whether the current action of the target part of the target object is a preset standard action when a predetermined time threshold condition is met.

[0094] Optionally, the calibration module 202 includes:

[0095] A third comparison unit 2021 (not shown in the figure) is used to compare the IMU sensor data currently collected by the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action;

[0096] The correction unit 2022 (not shown in the figure) is used to correct the IMU sensor data with errors currently collected by the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action if the comparison result exceeds the predetermined error range.

[0097] Optionally, the device further comprises:

[0098] The estimation module 204 (not shown in the figure) is used to estimate the posture of the target object based on the corrected IMU sensor data.

[0099] For the embodiments of the present application, the beneficial effects achieved are the same as those of the above-mentioned method embodiments and will not be repeated here.

[0100] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0101] The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method provided in the embodiment of the present disclosure.

[0102] Compared with the prior art, the electronic device determines whether the current action of the target part of the target object is a preset standard action; if the current action of the target part is a preset standard action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action. That is, when it is detected that the target part of the target object is a preset action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action, thereby solving the problem of deviation and misalignment caused by the existence of zero bias error and long-term accumulation.

[0103] The readable storage medium is a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method provided by the embodiment of the present disclosure.

[0104] Compared with the prior art, the readable storage medium determines whether the current action of the target part of the target object is a preset standard action; if the current action of the target part is a preset standard action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action. That is, when it is detected that the target part of the target object is a preset action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action, thereby solving the problem of deviation and misalignment caused by the existence of zero bias error and long-term accumulation.

[0105] The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program implements the method as shown in the first aspect of the present disclosure.

[0106] Compared with the prior art, the computer program product determines whether the current action of the target part of the target object is a preset standard action; if the current action of the target part is a preset standard action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action. That is, when it is detected that the target part of the target object is a preset action, the IMU sensor configured at the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action, thereby solving the problem of deviation and misalignment caused by the existence of zero bias error and long-term accumulation.

[0107] Figure 3 A schematic block diagram of an example electronic device 300 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0108] like Figure 3As shown, the device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. In the RAM 303, various programs and data required for the operation of the device 300 can also be stored. The computing unit 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 303 is also connected to the bus 304.

[0109] A number of components in the device 300 are connected to the I / O interface 305, including: an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the device 300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0110] The computing unit 301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running artificial intelligence model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the method I MU sensor data calibration method. For example, in some embodiments, the I MU sensor data calibration method may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 305. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method I MU sensor data calibration method described above may be performed. Alternatively, in other embodiments, the computing unit 301 may be configured to perform the method I MU sensor data calibration method in any other suitable manner (eg, by means of firmware).

[0111] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general programmable processor, which may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0112] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0113] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0114] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0115] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0116] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0117] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0118] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for calibrating IMU sensor data, characterized in that: The method includes: Determine whether the current action of the target part of the target object is a preset standard action; If the current action of the target part is a preset standard action, the IMU sensor configured for the target part is calibrated based on the pre-recorded IMU parameter information corresponding to the preset standard action.

2. The calibration method according to claim 1, characterized in that: The step of determining whether the current action of the target object target part is a preset standard action includes: Based on data collected by at least one of the flexible deformation sensors, flexible pressure sensors and EMG sensors configured in the target area, it is determined whether the current action of the target part of the target object is a preset standard action.

3. The calibration method according to claim 2, characterized in that: Determining whether a current motion of a target part of a target object is a preset standard motion based on data collected by at least one of a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor configured in the target part area includes: Based on any one of the flexible deformation sensors, flexible pressure sensors, and EMG sensors configured in the target area, current data of the target area collected by the any one of the sensors is compared with the sensor data of the any one of the sensors corresponding to each preset standard action in the pre-recorded preset standard action library for consistency; If there is consistent comparison data, the current action of the target part of the target object is determined to be a preset standard action.

4. The calibration method according to claim 2, characterized in that: Determining whether a current motion of a target part of a target object is a preset standard motion based on data collected by at least one of a flexible deformation sensor, a flexible pressure sensor, and an EMG sensor configured in the target part area includes: Performing consistency comparison between the current flexible deformation sensor data of the target part collected by the flexible deformation sensor configured in the target part area and the flexible deformation sensor data corresponding to each preset standard action in the pre-recorded preset standard action library; If there is consistent flexible deformation sensor data, then further based on the current flexible pressure sensor data and / or EMG sensor data of the target part collected by the flexible pressure sensor and / or EMG sensor configured in the target part area, and the pre-recorded flexible pressure sensor and / or EMG sensor data corresponding to the preset standard action corresponding to the consistent flexible deformation sensor data, consistency comparison is performed; If the comparison is consistent, the current action of the target part of the target object is determined to be the preset standard action.

5. The calibration method according to claim 1, characterized in that: The method further comprises: When the predetermined time threshold condition is met, it is detected whether the current action of the target part of the target object is a preset standard action.

6. The method according to claim 1, wherein the calibration process of the IMU sensor configured at the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action comprises: Based on the pre-recorded IMU parameter information corresponding to the preset standard action, the IMU sensor data currently collected by the IMU sensor configured at the target part is compared; If the comparison result exceeds the predetermined error range, the IMU sensor data with errors currently collected by the IMU sensor configured at the target part is corrected based on the pre-recorded IMU parameter information corresponding to the preset standard action.

7. The method according to any one of claims 1 to 6, characterized in that: The method further includes: The target object’s attitude is estimated based on the calibrated IMU sensor data.

8. An IMU sensor data calibration device, characterized in that: The device includes: A determination module, used to determine whether the current action of the target part of the target object is a preset standard action; The calibration module is used to calibrate the IMU sensor configured for the target part based on the pre-recorded IMU parameter information corresponding to the preset standard action if the current action of the target part is a preset standard action.

9. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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