An intelligent calibration system for multi-modal manipulator pressure sensors

Abstract

The present invention relates to the field of sensor calibration technology, and specifically to an intelligent calibration system for a multimodal manipulator pressure sensor; the intelligent calibration system for a multimodal manipulator pressure sensor comprises a data acquisition unit, a pressure calibration unit and a visualization unit; the present invention comprehensively collects pressure data of different contact points in various operation scenarios, thereby ensuring the reliability of pressure calibration in multimodal operations, and at the same time, adopts a variety of calibration methods, automatically selects and uses appropriate schemes for calibration, greatly improving the accuracy of calibration, and in addition, intelligent calibration greatly shortens the time required for calibration, effectively improving the use efficiency of the equipment and reducing the time cost.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor calibration, and in particular to an intelligent calibration system for a multi-modal manipulator pressure sensor. Background Art

[0002] With the rapid development of industrial automation, intelligent logistics, and medical fields, the application of manipulators is becoming more and more extensive. In industrial production, manipulators are responsible for tasks such as grasping and assembling parts, and can accurately and efficiently replace manual labor to complete repetitive and complex operations; in the logistics industry, automated sorting manipulators can quickly identify and sort different packages to improve logistics processing efficiency; in the field of medical surgery, auxiliary manipulators assist doctors in completing delicate operations and reducing surgical risks. As one of the key components of the manipulator, the pressure sensor plays an important role in sensing contact pressure. The pressure information it feedbacks can help the manipulator adjust the grasping force and operating movements in real time, which is crucial to ensure that the manipulator can accurately and stably complete various tasks.

[0003] Manipulators usually need to work in multiple operating modes. In different modes, the pressure change patterns and force conditions faced by pressure sensors are different. Traditional calibration methods are mostly based on fixed mode design and do not fully consider the characteristics of multi-modal operation of manipulators. As a result, it is difficult to ensure the accuracy and stability of pressure measurement when the calibrated sensor switches between different modes, affecting the overall working performance of the manipulator.

[0004] Based on this, the present invention provides a multi-modal manipulator pressure sensor intelligent calibration system to solve the above-mentioned technical problems. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-modal manipulator pressure sensor intelligent calibration system. The present invention comprehensively collects pressure data of different contact points in various operating scenarios, ensuring the reliability of pressure calibration in multi-modal operations. At the same time, it adopts multiple calibration methods, automatically selects and uses appropriate schemes for calibration, and greatly improves the calibration accuracy. In addition, intelligent calibration greatly shortens the time required for calibration, effectively improves the use efficiency of the equipment, and reduces time costs.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a multi-modal manipulator pressure sensor intelligent calibration system, comprising a data acquisition unit, a pressure calibration unit and a visualization unit, wherein:

[0008] The data acquisition unit is used to obtain pressure data of each pressure sensing device, mark and summarize the obtained pressure data, and obtain original pressure input data;

[0009] The pressure calibration unit analyzes the pressure data acquired by each pressure sensor according to the received calibration instruction, and intelligently calibrates each pressure sensor, and the pressure calibration unit is connected to the data acquisition unit;

[0010] The visualization unit compares the pressure data acquired by each pressure sensor with the original pressure data, determines whether to calibrate, and visually displays the data of each pressure sensor. The visualization unit is connected to both the data acquisition unit and the pressure calibration unit.

[0011] The present invention is further configured as follows: the data acquisition unit includes a pressure sensing module, a data marking module and a data aggregation module, wherein:

[0012] The pressure sensing module is a pressure sensor distributed at each key part of the manipulator, which is used to collect pressure data at different contact points;

[0013] The data marking module is used to mark the pressure data of different pressure sensors, and the data marking module is connected to the pressure sensing module;

[0014] The data summary module is used to summarize the pressure data of each pressure sensor, and the data summary module is connected to the data marking module.

[0015] The present invention is further configured as follows: the data acquisition unit further includes a first communication module and an original acquisition module, wherein:

[0016] The first communication module is used to realize information interaction between the data acquisition unit and the pressure calibration unit and the visualization unit, and the first communication module is connected to both the pressure sensing module and the data aggregation module;

[0017] The original acquisition module is used to obtain the original pressure control data input into each pressure sensor, and the original acquisition module is connected to the first communication module.

[0018] The present invention is further configured as follows: the pressure calibration unit includes a second communication module, a calibration construction module and an intelligent calibration module, wherein:

[0019] The second communication module is used to realize information interaction between the pressure calibration unit and the data acquisition unit and the visualization unit;

[0020] The calibration construction module is used to receive the calibration instruction and classify the summarized marked pressure data according to the received calibration instruction, and the calibration construction module is connected to the second communication module;

[0021] The intelligent calibration module performs a first pressure calibration and a second pressure calibration on the pressure data based on the classified pressure data, compares the calibration results of the first pressure calibration and the second pressure calibration with the original pressure data, screens out the calibration result with the smallest error value, compensates the original pressure data, and intelligently calibrates the pressure sensor. The intelligent calibration module is connected to the calibration construction module.

[0022] The present invention is further configured as follows: the process of the first pressure calibration is as follows:

[0023] Construct the pressure data equation group of each pressure sensor In the formula, x n is the original pressure data, y n is the corresponding pressure data, α and β are parameters;

[0024] Calculate the average value of the original pressure data and the corresponding acquired pressure data

[0025] Then find α and β,

[0026] For the newly collected sensor pressure data y new , calculate the true pressure value after calibration

[0027]

[0028] The present invention is further configured as follows: the process of the second pressure calibration is as follows:

[0029] Normalize the acquired pressure data In the formula, x is the pressure data, x min 、x max is the minimum and maximum value of the pressure data;

[0030] Calculate the true pressure value after calibration Where f(·) is the ReLU function, ω i is the weight parameter, x i is the normalized pressure data, and λ is the correction parameter.

[0031] The present invention is further configured as follows: the pressure calibration unit further includes a calibration control module and a database module, wherein:

[0032] The calibration control module starts the corresponding sensor for calibration according to the received calibration information, and the calibration control module is connected to both the second communication module and the intelligent calibration module;

[0033] The database module is used to store the received data information, and the database module is connected to the second communication module, the calibration construction module and the calibration control module.

[0034] The present invention is further configured as follows: the visualization unit includes a third communication module and an information display module, wherein:

[0035] The third communication module is used to realize information interaction between the visualization unit and the data acquisition unit and the pressure calibration unit;

[0036] The information display module is used to display data information of each sensor, and the information display module is connected to the third communication module.

[0037] The present invention is further configured as follows: the visualization unit further includes a data input module and a calibration comparison module, wherein:

[0038] The data input module is used to input various original pressure data, and the data input module is connected to both the third communication module and the information display module;

[0039] The calibration comparison module is used to compare the pressure data acquired by each pressure sensor with the original pressure data to determine whether to calibrate. The calibration comparison module is connected to both the third communication module and the information display module.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] The present invention uses pressure sensors distributed on the manipulator to comprehensively collect pressure data of different contact points in various operating scenarios, thereby fully taking into account the differences in pressure sensor errors under different working conditions, ensuring the reliability of pressure calibration in multimodal operations, and screening out sensors that need to be calibrated before sensor calibration, reducing the workload of calibration. At the same time, during calibration, a variety of calibration methods are adopted, which can automatically select and apply appropriate solutions for calibration based on the actual characteristics of the pressure data, accurately correct various errors in the sensor, and make the output value of the calibrated pressure sensor closer to the actual pressure situation, greatly improving the accuracy of calibration. In addition, intelligent calibration greatly shortens the time required for calibration, effectively improves the use efficiency of the equipment, and reduces time cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a system diagram of a multi-modal manipulator pressure sensor intelligent calibration system of the present invention.

[0043] Figure 2 This is a system diagram of a data acquisition unit in a multi-modal manipulator pressure sensor intelligent calibration system of the present invention.

[0044] Figure 3 This is a system diagram of a pressure calibration unit in a multi-modal manipulator pressure sensor intelligent calibration system of the present invention.

[0045] Figure 4 This is a system diagram of a visualization unit in an intelligent calibration system for a multi-modal manipulator pressure sensor of the present invention.

[0046] Description of Figure Numbers:

[0047] 100. Data acquisition unit; 110. Pressure sensing module; 120. Data marking module; 130. Data aggregation module; 140. First communication module; 150. Original acquisition module; 200. Pressure calibration unit; 210. Second communication module; 220. Calibration construction module; 230. Intelligent calibration module; 240. Calibration control module; 250. Database module; 300. Visualization unit; 310. Third communication module; 320. Information display module; 330. Data input module; 340. Calibration comparison module. DETAILED DESCRIPTION

[0048] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Example:

[0050] like Figure 1-Figure 4 As shown, the present embodiment provides a multi-modal manipulator pressure sensor intelligent calibration system, including a data acquisition unit 100, a pressure calibration unit 200 and a visualization unit 300, wherein: the data acquisition unit 100 is used to obtain the pressure data of each pressure sensing device, and mark and summarize the obtained pressure data, and obtain the original pressure input data; the pressure calibration unit 200 analyzes the pressure data obtained by each pressure sensor according to the received calibration instruction, and intelligently calibrates each pressure sensor, and the pressure calibration unit 200 is connected to the data acquisition unit 100; the visualization unit 300 compares the pressure data obtained by each pressure sensor with the original pressure data, determines whether to calibrate, and visually displays the data of each pressure sensor, and the visualization unit 300 is connected to both the data acquisition unit 100 and the pressure calibration unit 200.

[0051] In this embodiment, it should be noted that the operator inputs the original pressure data through the visualization unit 300 to control the operation of the manipulator, and the data acquisition unit 100 acquires the pressure data of each pressure sensor on the manipulator, and uploads the above pressure data to the visualization unit 300, and the visualization unit 300 compares the above pressure data with the corresponding original pressure data. If the error threshold is exceeded, the corresponding sensor calibration instruction is sent to the pressure calibration unit 200, and the pressure calibration unit 200 calibrates the sensor. At the same time, the data acquisition unit 100 will mark and summarize the collected pressure data for subsequent processing, and upload the summarized and marked pressure data to the pressure calibration unit 200. The pressure calibration unit 200 will provide different calibration schemes, and compare the calibration effects obtained by the provided calibration schemes, select excellent calibration schemes, and calibrate the sensors. In addition, the visualization unit 300 can provide visualized data information to the operator so that the operator can intuitively view the pressure data information.

[0052] In the present invention, the data acquisition unit 100 includes a pressure sensing module 110, a data marking module 120 and a data aggregation module 130, wherein: the pressure sensing module 110 is a pressure sensor distributed at various key parts of the manipulator, which is used to collect pressure data of different contact points; the data marking module 120 is used to mark the pressure data of different pressure sensors, and the data marking module 120 is connected to the pressure sensing module 110; the data aggregation module 130 is used to aggregate the pressure data of each pressure sensor, and the data aggregation module 130 is connected to the data marking module 120.

[0053] In addition, the data acquisition unit 100 also includes a first communication module 140 and an original acquisition module 150, wherein: the first communication module 140 is used to realize information interaction between the data acquisition unit 100 and the pressure calibration unit 200 and the visualization unit 300, and the first communication module 140 is connected to the pressure sensing module 110 and the data aggregation module 130; the original acquisition module 150 is used to obtain the original pressure control data input into each pressure sensor, and the original acquisition module 150 is connected to the first communication module 140.

[0054] In this embodiment, it should be noted that, as an implementation method, multiple pressure sensors can be installed in key parts of the manipulator, such as its fingers and palms. When the manipulator grasps parts of different shapes and weights, the pressure sensors can collect pressure data of the contact points in real time, so as to obtain rich pressure data information under multimodal operation, and transmit the pressure data information to the data marking module 120 for marking. For example, there are 5 pressure sensors in different positions on the manipulator. When the data is received from each sensor, the data marking module 120 will attach the corresponding sensor number to the data header, so that the data source of each sensor can be clearly distinguished during subsequent processing. The marked data will be collected by the data aggregation module 130 to form a data set containing pressure data of each sensor at different times. Through the collaboration of multiple modules, the original control pressure data of different parts and different times of the manipulator and the corresponding original control pressure data can be comprehensively collected, and clearly marked and summarized, providing a rich and orderly data basis for subsequent precise calibration and improving the quality of calibration data.

[0055] In the present invention, the pressure calibration unit 200 includes a second communication module 210, a calibration construction module 220 and an intelligent calibration module 230, wherein: the second communication module 210 is used to realize information interaction between the pressure calibration unit 200 and the data acquisition unit 100 and the visualization unit 300; the calibration construction module 220 is used to receive calibration instructions, and classify the summarized and marked pressure data according to the received calibration instructions, and the calibration construction module 220 is connected to the second communication module 210; the intelligent calibration module 230 performs a first pressure calibration and a second pressure calibration on the pressure data based on the classified pressure data, and compares the calibration results of the first pressure calibration and the second pressure calibration with the original pressure data, screens out the calibration result with the smallest error value, and compensates the original pressure data, intelligently calibrates the pressure sensor, and the intelligent calibration module 230 is connected to the calibration construction module 220.

[0056] The process of the first pressure calibration is as follows:

[0057] Construct the pressure data equation group of each pressure sensor In the formula, x n is the original pressure data, y n is the corresponding pressure data, α and β are parameters;

[0058] Calculate the average value of the original pressure data and the corresponding acquired pressure data

[0059] Then find α and β,

[0060] For the newly collected sensor pressure data y new , calculate the true pressure value after calibration

[0061]

[0062] In addition, the process of the second pressure calibration is as follows:

[0063] Normalize the acquired pressure data In the formula, x is the pressure data, x min 、x max is the minimum and maximum value of the pressure data;

[0064] Calculate the true pressure value after calibration Where f(·) is the ReLU function, ω i is the weight parameter, x i is the normalized pressure data, and λ is the correction parameter.

[0065] In this embodiment, it should be noted that the summarized and marked pressure data is received by the second communication module 210 and transmitted to the calibration construction module 220. As a real-time method, the calibration construction module 220 classifies the pressure data collected when the fingers statically grasp small objects into one category, and classifies the data collected when the palm dynamically carries heavier objects into another category, so as to select the appropriate calibration method according to the characteristics of different categories of data. The intelligent calibration module 230 provides different calibration schemes, which can adopt appropriate calibration methods for linear and nonlinear errors respectively, automatically select and calculate calibration parameters, realize more accurate calibration, better adapt to complex sensor error conditions, and improve the accuracy and efficiency of calibration.

[0066] In the present invention, the pressure calibration unit 200 also includes a calibration control module 240 and a database module 250, wherein: the calibration control module 240 starts the corresponding sensor for calibration according to the received calibration information, and the calibration control module 240 is connected to the second communication module 210 and the intelligent calibration module 230; the database module 250 is used to store the received data information, and the database module 250 is connected to the second communication module 210, the calibration construction module 220 and the calibration control module 240, and corrections are made through different calibration processes at the same time, which comprehensively solves the various error manifestations that may occur in the actual use of the pressure sensor, makes the calibrated sensor output closer to the actual pressure value, and improves the reliability and accuracy of the manipulator's operation based on pressure feedback.

[0067] In the present invention, the visualization unit 300 includes a third communication module 310 and an information display module 320, wherein: the third communication module 310 is used to realize information interaction between the visualization unit 300 and the data acquisition unit 100 and the pressure calibration unit 200; the information display module 320 is used to display data information of each sensor, and the information display module 320 is connected to the third communication module 310.

[0068] In addition, the visualization unit 300 also includes a data input module 330 and a calibration comparison module 340, wherein: the data input module 330 is used to input each original pressure data, and the data input module 330 is connected to both the third communication module 310 and the information display module 320; the calibration comparison module 340 is used to compare the pressure data obtained by each pressure sensor with the original pressure data to determine whether to calibrate, and the calibration comparison module 340 is connected to both the third communication module 310 and the information display module 320.

[0069] In this embodiment, it should be noted that the operator manually inputs the original pressure setting value corresponding to each manipulator operation task on the visualization unit 300 according to the prompts, and it can be displayed by the information display module 320. The calibration comparison module 340 will compare the acquired sensor pressure data with the original pressure setting value. If the error threshold is exceeded, the corresponding sensor calibration instruction will be sent to the pressure calibration unit 200. Through a visual way, the operator can intuitively understand the key information such as the data status of the pressure sensor, the comparison before and after calibration, and whether the calibration is qualified, which greatly reduces the difficulty of operation and monitoring and improves the convenience of overall control of the calibration system.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0071] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-modal manipulator pressure sensor intelligent calibration system, characterized in that: It comprises a data acquisition unit (100), a pressure calibration unit (200) and a visualization unit (300), wherein: The data acquisition unit (100) is used to acquire pressure data of each pressure sensing device, mark and summarize the acquired pressure data, and acquire original pressure input data; The pressure calibration unit (200) analyzes the pressure data acquired by each pressure sensor according to the received calibration instruction, and intelligently calibrates each pressure sensor, and the pressure calibration unit (200) is connected to the data acquisition unit (100); The visualization unit (300) compares the pressure data acquired by each pressure sensor with the original pressure data, determines whether calibration is required, and visually displays the data of each pressure sensor. The visualization unit (300) is connected to both the data acquisition unit (100) and the pressure calibration unit (200).

2. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 1, characterized in that: The data acquisition unit (100) comprises a pressure sensing module (110), a data marking module (120) and a data aggregation module (130), wherein: The pressure sensing module (110) is a pressure sensor distributed at key positions of the manipulator, and is used to collect pressure data at different contact points; The data marking module (120) is used to mark the pressure data of different pressure sensors, and the data marking module (120) is connected to the pressure sensing module (110); The data summary module (130) is used to summarize the pressure data of each pressure sensor, and the data summary module (130) is connected to the data marking module (120).

3. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 2, characterized in that: The data collection unit (100) further comprises a first communication module (140) and an original collection module (150), wherein: The first communication module (140) is used to realize information interaction between the data acquisition unit (100) and the pressure calibration unit (200) and the visualization unit (300), and the first communication module (140) is connected to both the pressure sensing module (110) and the data aggregation module (130); The original acquisition module (150) is used to acquire original pressure control data input into each pressure sensor, and the original acquisition module (150) is connected to the first communication module (140).

4. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 1, characterized in that: The pressure calibration unit (200) comprises a second communication module (210), a calibration construction module (220) and an intelligent calibration module (230), wherein: The second communication module (210) is used to realize information interaction between the pressure calibration unit (200) and the data acquisition unit (100) and the visualization unit (300); The calibration construction module (220) is used to receive a calibration instruction and classify the summarized marked pressure data according to the received calibration instruction, and the calibration construction module (220) is connected to the second communication module (210); The intelligent calibration module (230) performs a first pressure calibration and a second pressure calibration on the pressure data based on the classified pressure data, compares the calibration results of the first pressure calibration and the second pressure calibration with the original pressure data, selects the calibration result with the smallest error value, and compensates the original pressure data to intelligently calibrate the pressure sensor. The intelligent calibration module (230) is connected to the calibration construction module (220).

5. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 4, characterized in that: The process of the first pressure calibration is as follows: Construct the pressure data equation group of each pressure sensor In the formula, x n is the original pressure data, y n is the corresponding pressure data, α and β are parameters; Calculate the average value of the original pressure data and the corresponding acquired pressure data Then find α and β, For the newly collected sensor pressure data y new , calculate the true pressure value after calibration 6. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 4, characterized in that: The process of the second pressure calibration is as follows: Normalize the acquired pressure data In the formula, x is the pressure data, x min 、x max is the minimum and maximum value of the pressure data; Calculate the true pressure value after calibration Where f(·) is the ReLU function, ω i is the weight parameter, x i is the normalized pressure data, and λ is the correction parameter.

7. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 4, characterized in that: The pressure calibration unit (200) further comprises a calibration control module (240) and a database module (250), wherein: The calibration control module (240) starts the corresponding sensor for calibration according to the received calibration information, and the calibration control module (240) is connected to both the second communication module (210) and the intelligent calibration module (230); The database module (250) is used to store the received data information, and the database module (250) is connected to the second communication module (210), the calibration construction module (220) and the calibration control module (240).

8. The multi-modal manipulator pressure sensor intelligent calibration system according to claim 1, characterized in that: The visualization unit (300) comprises a third communication module (310) and an information display module (320), wherein: The third communication module (310) is used to realize information interaction between the visualization unit (300) and the data acquisition unit (100) and the pressure calibration unit (200); The information display module (320) is used to display data information of each sensor, and the information display module (320) is connected to the third communication module (310).

9. The intelligent calibration system for multi-modal manipulator pressure sensor according to claim 8, characterized in that: The visualization unit (300) further comprises a data input module (330) and a calibration comparison module (340), wherein: The data input module (330) is used to input various original pressure data, and the data input module (330) is connected to both the third communication module (310) and the information display module (320); The calibration comparison module (340) is used to compare the pressure data acquired by each pressure sensor with the original pressure data to determine whether calibration is required. The calibration comparison module (340) is connected to both the third communication module (310) and the information display module (320).

Images