Method for calibrating inertial element based on rapid temperature control box and mechanical arm and related equipment

Abstract

The invention relates to the technical field of MEMS inertial element calibration, in particular to a method and related equipment for calibrating an inertial element based on a rapid temperature control box and a mechanical arm, and the method comprises the following steps: installing the inertial element in a micro-space rapid temperature control box; obtaining an inertial element parameter full-temperature compensation method; based on the full temperature compensation method, a target temperature change curve corresponding to a temperature control box and a target path corresponding to a mechanical arm are obtained; based on the target temperature change curve, controlling the temperature control box, and obtaining reference inertial element data and target inertial element data; on the basis of the target path, the mechanical arm is controlled, and mechanical arm data are obtained; on the basis of the reference inertial element data, the target inertial element data, the mechanical arm data and a preset algorithm, compensation parameters of the inertial element in the full-temperature range are obtained; and calibrating the inertial element based on the compensation parameter. According to the invention, the performance parameters of the inertial element in the full temperature range can be improved, the energy consumption is reduced, and the use cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of MEMS inertial element calibration, and particularly to a method and related equipment for calibrating inertial elements based on a rapid temperature control box and a robotic arm. Technical Background

[0002] With the progress and development of inertial navigation technology, the calibration of inertial elements has become a very important technology. Nowadays, inertial elements can be calibrated at room temperature by a robotic arm or a three-axis turntable. However, the calibration methods adopted in these technologies are carried out at one or some specified temperatures. During the operation process, the ambient temperature will change continuously, so there will be large errors in the calibrated data. By placing the three-axis turntable in a large temperature control box for full-temperature calibration, the operation is very inconvenient, and these devices not only have low temperature control accuracy, but also have large volume and power consumption. To improve the accuracy of the zero point and sensitivity parameters in the full-temperature range (-40~85°C) of inertial elements, zero point and sensitivity compensation in the full-temperature range is required. For this reason, in related technologies, a micro-space rapid temperature control box is installed at the end of the robotic arm, and the inertial element is placed in the rapid temperature control box to provide a specified temperature environment, and combined with the robotic arm, the calibrated data at the specified temperature is obtained. Summary of the Invention

[0003] To help improve the accuracy of inertial element calibration data, this application provides a method and related equipment for calibrating inertial elements based on a rapid temperature control box and a robotic arm.

[0004] In a first aspect, a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm provided by this application adopts the following technical solutions:

[0005] A method for calibrating an inertial element based on a rapid temperature control box and a robotic arm includes:

[0006] Install the inertial element in the micro-space rapid temperature control box;

[0007] Obtain the full-temperature compensation method for inertial element parameters, and the full-temperature compensation method includes the full-temperature compensation method at constant temperature points, the full-temperature compensation method combining reference temperature points with uniform temperature change, and the full-temperature compensation method with uniform temperature change;

[0008] Based on the full-temperature compensation method, obtain the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm;

[0009] Based on the target temperature change curve, control the temperature control box and obtain reference inertial element data and target inertial element data;

[0010] Based on the target path, control the robotic arm and obtain robotic arm data;

[0011] Based on the reference inertial element data, the target inertial element data, the robotic arm data, and a preset algorithm, obtain the compensation parameters within the full temperature range of the inertial element;

[0012] Calibrate the inertial element based on the compensation parameters.

[0013] By adopting the above technical solution, first select the full-temperature compensation method for inertial element parameters. According to the full-temperature compensation method, obtain the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm. Then, control the temperature control box according to the target temperature change curve, and obtain the reference inertial element data and the target inertial element data. Next, control the robotic arm according to the target path, and obtain the robotic arm data. According to the reference inertial element data, the target inertial element data, the robotic arm data, and a preset algorithm, calculate the compensation parameters within the full temperature range of the inertial element. Finally, calibrate the inertial element according to the compensation parameters;

[0014] According to the target temperature control curve, by obtaining dynamic data such as robotic arm data, reference inertial element data, and target inertial element data, calculate the compensation parameters within the full temperature range of the inertial element, and perform dynamic calibration on the inertial element, which helps to reduce the errors caused by constant temperature calibration and the possibility of inaccurate precision, and further helps to improve the accuracy of the calibration data of the inertial element.

[0015] Optionally, before obtaining the full-temperature compensation method for inertial element parameters, it further includes:

[0016] Obtain a target calculation method, where the target calculation method includes a gyroscope calculation method and an accelerometer calculation method;

[0017] If the target calculation method is the accelerometer calculation method, then obtain the accelerometer path based on the robotic arm path;

[0018] Obtain a target attitude based on the accelerometer path;

[0019] Obtain the accelerometer expected value based on the target attitude;

[0020] The accelerometer expected value satisfies the following calculation formula:

[0021]

[0022] Where, is the accelerometer expected value, is a 3*3 matrix, KA is the accelerometer scale factor parameter, B is the accelerometer orthogonality parameter, is the zero point parameter, is the accelerometer output value.

[0023] Optionally, after obtaining the target calculation method, where the target calculation method includes a gyroscope calculation method and an accelerometer calculation method, the following steps are further included:

[0024] If the target calculation method is the gyroscope calculation method, obtain a calibrated gyroscope vector, a reference gyroscope vector, and a loss function;

[0025] Based on the calibrated gyroscope vector, the reference gyroscope vector, and the loss function, obtain the gyroscope expected value;

[0026] The gyroscope expected value satisfies the following formula:

[0027]

[0028] Where, is the expected value of the gyroscope, is a 3*3 matrix, KG is the gyroscope scale factor parameter, A is the gyroscope orthogonality parameter, is the zero point parameter, is the output value of the gyroscope.

[0029] Optionally, the full temperature compensation method includes a constant temperature point compensation method. The full temperature compensation method for obtaining inertial element parameters includes:

[0030] Obtain the constant temperature point and keep the rapid temperature control box at a constant temperature at the constant temperature point;

[0031] Select the target parameter and obtain the second-order fitting formula corresponding to the target parameter;

[0032] Based on the second-order fitting formula, obtain the inertial compensation coefficient corresponding to any temperature point.

[0033] Optionally, the full temperature compensation method includes a reference temperature point combined with a uniform temperature change compensation method. The full temperature compensation method for obtaining inertial element parameters includes:

[0034] Based on the accelerometer expected value, the accelerometer scale factor parameter, and the second-order fitting formula, obtain the accelerometer full temperature compensation formula;

[0035] The accelerometer full temperature compensation formula is as follows:

[0036]

[0037] Where, Δt = t i - t R , which is the difference between the ambient temperature and the reference temperature, T KAX2 is the second-order temperature coefficient with as the reference, TKAX1 Therefore is the first-order temperature coefficient with reference to is the compensation parameter at a certain temperature point within the range, is the compensation parameter at the reference temperature.

[0038] Optionally, after obtaining the full-temperature compensation formula for the accelerometer based on the expected value of the accelerometer, the scale factor parameter of the accelerometer, and the second-order fitting formula, the following further includes:

[0039] Based on the expected value of the gyroscope, the scale factor parameter of the gyroscope, and the second-order fitting formula, obtain the full-temperature compensation formula for the gyroscope;

[0040] The full-temperature compensation formula for the gyroscope is as follows:

[0041]

[0042] where T KGX2 is with reference to is the second-order temperature coefficient, and T KGX1 is with reference to is the first-order temperature coefficient, is the compensation parameter at a certain temperature point within the range, is the compensation parameter at the reference temperature.

[0043] In a second aspect, the present application also discloses a system for calibrating inertial elements based on a rapid temperature control box and a robotic arm, adopting the following technical solution:

[0044] A system for calibrating inertial elements based on a rapid temperature control box and a robotic arm, comprising:

[0045] A first execution module, configured to install the inertial element in the micro-space rapid temperature control box;

[0046] A first acquisition module, configured to acquire the full-temperature compensation method for the inertial element parameters, and the full-temperature compensation method includes the full-temperature compensation method at the constant temperature point, the full-temperature compensation method combining the reference temperature point and the uniform temperature change, and the full-temperature compensation method for the uniform temperature change;

[0047] A second acquisition module, configured to obtain the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm based on the full-temperature compensation method;

[0048] A third acquisition module, configured to control the temperature control box based on the target temperature change curve, and acquire the reference inertial element data and the target inertial element data;

[0049] A fourth acquisition module, configured to control the robotic arm based on the target path, and acquire the robotic arm data;

[0050] A fifth acquisition module, configured to acquire compensation parameters within the full temperature range of the inertial element based on the reference inertial element data, target inertial element data, the robotic arm data, and a preset algorithm.

[0051] An element calibration module, configured to calibrate the inertial element based on the compensation parameters.

[0052] By adopting the above technical solution, first select the full-temperature compensation method for inertial element parameters. According to the full-temperature compensation method, obtain the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm. Then, control the temperature control box according to the target temperature change curve, and obtain the reference inertial element data and target inertial element data. Next, control the robotic arm according to the target path, and obtain the robotic arm data. Calculate the compensation parameters within the full temperature range of the inertial element based on the reference inertial element data, target inertial element data, robotic arm data, and a preset algorithm. Finally, calibrate the inertial element according to the compensation parameters.

[0053] According to the target temperature control curve, by obtaining dynamic data such as robotic arm data, reference inertial element data, and target inertial element data, calculate the compensation parameters within the full temperature range of the inertial element, and perform dynamic calibration on the inertial element, which helps to reduce the errors caused by constant temperature calibration and the possibility of inaccurate precision, and further helps to improve the accuracy of the inertial element calibration data.

[0054] In a third aspect, a computer device provided by the present application adopts the following technical solution:

[0055] An intelligent terminal includes a memory and a processor. The memory is used to store a computer program that can run on the processor. When the processor loads the computer program, it executes the method of the first aspect.

[0056] By adopting the above technical solution, generate a computer program based on the method of the first aspect and store it in the memory to be loaded and executed by the processor. Thus, an intelligent terminal is made according to the memory and the processor, which is convenient for users to use.

[0057] In a fourth aspect, a computer-readable storage medium provided by the present application adopts the following technical solution:

[0058] A computer-readable storage medium stores a computer program. When the computer program is loaded by a processor, it executes the method of the first aspect.

[0059] By adopting the above technical solution, a computer program is generated based on the method of the first aspect and stored in a computer-readable storage medium to be loaded and executed by a processor. Through the computer-readable storage medium, the readability and storage of the computer program are facilitated.

[0060] In summary, the present application includes the following beneficial technical effects:

[0061] According to the target temperature control curve, by obtaining dynamic data such as robotic arm data, reference inertial element data, and target inertial element data, the compensation parameters within the full temperature range of the inertial element are calculated, and the inertial element is dynamically calibrated, which helps to reduce the errors caused by constant temperature calibration and the possibility of inaccurate precision, and further helps to improve the accuracy of the calibration data of the inertial element. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 is the main flowchart of a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm in an embodiment of the present application;

[0063] Figure 2 is the flowchart of steps S201 to S204;

[0064] Figure 3 is the flowchart of steps S301 to S302;

[0065] Figure 4 is the flowchart of steps S401 to S403;

[0066] Figure 5 is the module diagram of a system for calibrating an inertial element based on a rapid temperature control box and a robotic arm in an embodiment of the present application.

[0067] DESCRIPTION OF REFERENCE NUMERALS:

[0068] 1. First execution module; 2. First acquisition module; 3. Second acquisition module; 4. Third acquisition module; 5. Fourth acquisition module; 6. Fifth acquisition module; 7. Element calibration module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0069] In a first aspect, the present application discloses a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm.

[0070] Referring to Figure 1 , a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm includes steps S101 to S107:

[0071] Step S101: Install the inertial element in the micro-space rapid temperature control box.

[0072] Specifically, in this embodiment, first place the rapid temperature control box on the mounting surface at the end of the robotic arm, and then place the inertial element inside the rapid temperature control box.

[0073] Step S102: A full-temperature compensation method for obtaining inertial element parameters.

[0074] Specifically, the control method of the micro-space rapid temperature box includes constant temperature control and uniform temperature change control. Among them, the constant temperature control takes the temperature sensor inside the inertial element as a reference, controls the voltage of the refrigeration sheet or the heating plate, and the temperature of the rapid temperature control box is kept constant at a temperature point, with the temperature fluctuation less than 0.25°C. In this embodiment, the full-temperature compensation method includes the full-temperature compensation method at the constant temperature point, the full-temperature compensation method combining the reference temperature point with the uniform temperature change, and the full-temperature compensation method of the uniform temperature change.

[0075] The uniform temperature change control is to increase (decrease) the temperature uniformly so that the temperature change per unit time is equal. In this embodiment, it can be optionally set to 10 s / °C, 20 s / °C, 30 s / °C. The selected temperature change time is related to the number of selected paths. The more the number of paths, the slower the temperature change.

[0076] There are three combined temperature control methods in the full temperature range (-40~+85°C) to compensate for the inertial element parameters, namely the constant temperature point compensation method, the reference temperature point plus uniform temperature change compensation method, and the uniform temperature change compensation method.

[0077] The constant temperature point compensation method is to set 7-9 constant temperature points in the full temperature range, set a complete path at the constant temperature point, and calculate the compensation parameters of the inertial element at the current temperature.

[0078] The reference temperature point plus uniform temperature change compensation method takes the room temperature as the reference temperature point, calculates the compensation coefficient of the inertial element at the reference temperature point, quickly rises to the highest temperature, such as +85°C, and then records data in a uniform temperature decrease manner to calculate the temperature compensation coefficient.

[0079] The uniform temperature change compensation method is to quickly rise to the highest temperature, such as +85°C, and then record data in a uniform temperature decrease manner to calculate all compensation coefficients at one time.

[0080] Step S103: Based on the full-temperature compensation method, obtain the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm.

[0081] Specifically, the target temperature change curve is the temperature change curve used to control the temperature control box; the robotic arm movement path is the movement of the robotic arm from one pose point to another, which can be divided into an accelerometer path and a gyroscope path according to inertial components; in this embodiment, the accelerometer path acquisition includes 18 poses evenly distributed in space, including 6 poses where the X, Y, and Z axes respectively rotate 180° around the vertical axis of the robotic arm, for a total of 18 poses. The gyroscope path can be obtained in two ways: uniform distribution and random distribution. Among them, the uniform distribution method means that the number of uniformly distributed paths ranges from 100 to 500, and pose angles are uniformly selected within the RPY angle range and combined. Taking the selection of 7 uniform poses as an example, the combination number is 7×7×7 = 343. The following table shows the point selection schematic for selecting 7 poses:

[0082] R 0° ±60° ±120° ±175° P 0° ±30° ±60° ±85° Y 0° ±60° ±120° ±175°

[0083] It should be noted that to avoid singularities, there is a slight distance from the angle limit range.

[0084] The random distribution method is to establish a set of all pose combinations with an RPY interval of 1°, and randomly select points in the set according to the required number of poses. It should be noted that the number of paths in the random distribution method ranges from 500 to 1000; in this embodiment, the purpose of path design is to stimulate all inertial navigation parameters so that they can converge to the optimal value during the calculation process.

[0085] Step S104: Based on the target temperature change curve, control the temperature control box and obtain reference inertial component data and target inertial component data.

[0086] Step S105: Based on the target path, control the robotic arm and obtain robotic arm data.

[0087] Specifically, in this embodiment, the robotic arm data includes data reflecting the real-time state of the robotic arm, such as the pose and joint angles of the robotic arm.

[0088] Step S106: Based on the reference inertial component data, target inertial component data, robotic arm data, and a preset algorithm, obtain the compensation parameters of the inertial component within the full temperature range.

[0089] Step S107: Calibrate the inertial component based on the compensation parameters.

[0090] The method for calibrating an inertial element based on a rapid temperature control box and a robotic arm provided in this embodiment first selects a full-temperature compensation method for inertial element parameters. According to the full-temperature compensation method, the target temperature change curve corresponding to the temperature control box and the target path corresponding to the robotic arm are obtained. Then, the temperature control box is controlled according to the target temperature change curve, and reference inertial element data and target inertial element data are obtained. Next, the robotic arm is controlled according to the target path, and robotic arm data is obtained. According to the reference inertial element data, target inertial element data, robotic arm data, and a preset algorithm, the compensation parameters within the full temperature range of the inertial element are calculated. Finally, the inertial element is calibrated according to the compensation parameters;

[0091] According to the target temperature control curve, by obtaining dynamic data such as robotic arm data, reference inertial element data, and target inertial element data, the compensation parameters within the full temperature range of the inertial element are calculated, and the inertial element is dynamically calibrated, which helps to reduce the errors caused by constant temperature calibration and the possibility of inaccuracies in accuracy, and further helps to improve the accuracy of the inertial element calibration data.

[0092] Refer to Figure 2 , in one implementation manner of this embodiment, before step S102 of obtaining the full-temperature compensation method for inertial element parameters, steps S201 to S204 are further included:

[0093] Step S201: Obtain a target calculation method, and the target calculation method includes a gyroscope calculation method and an accelerometer calculation method.

[0094] Specifically, in this embodiment, the full-temperature compensation method includes a reference temperature point inertial element compensation method; the target calculation method includes a gyroscope calculation method and an accelerometer calculation method.

[0095] Step S202: If the target calculation method is the accelerometer calculation method, obtain the accelerometer path based on the robotic arm path.

[0096] Step S203: Based on the accelerometer path, obtain the target attitude.

[0097] Specifically, in this embodiment, the accelerometer path is obtained by collecting 18 postures including 12 spatially uniformly distributed postures and 6 postures in which the X, Y, and Z axes respectively rotate 180° around the vertical axis of the robotic arm. The acceleration data of the 18-point stationary postures in the constant temperature state is used to calculate the accelerometer compensation parameters for each constant temperature point. The cost function is:

[0098]

[0099] The ideal accelerometer values should meet two convergence conditions: (1) The total acceleration for each attitude is 1g; (2) When the Z-axis of the accelerometer rotates 180° around the vertical axis of the robotic arm, for the two attitudes X0+, X0-, Y0+, Y0- of the X and Y axis accelerations obtained on the horizontal plane, it should satisfy: X0+ = -X0-, Y0+ = -Y0-, then the Z-axis of the accelerometer is aligned with the vertical axis of the robotic arm; in the same way, let the X and Y axes rotate 180° around the vertical axis of the robotic arm respectively, so that Z0+ = -Z0-, then the accelerometer is aligned with the axis of the robotic arm. Note that the inertial element is installed on the mounting surface inside the rapid temperature control box, but the mounting surface of the rapid temperature control box will be deformed by temperature. Through the above operations, the inertial element is aligned with the plane of the robotic arm outside the temperature control box, and is not affected by the temperature change inside the temperature control box; in this embodiment, methods such as the least squares method, the gradient descent method, and the traversal method can be used to calculate the compensation parameters of the accelerometer at the reference temperature point that meet the above conditions.

[0100] Step S204: Based on the target attitude, obtain the expected value of the accelerometer.

[0101] Specifically, in this embodiment, the expected value of the accelerometer satisfies the following calculation formula:

[0102]

[0103] Where, is the expected value of the accelerometer, is a 3*3 matrix, KA is the accelerometer scale factor parameter, B is the accelerometer orthogonality parameter, is the zero point parameter, is the output value of the accelerometer.

[0104] By setting 7 to 9 constant temperature points, calculate the accelerometer compensation parameters at different temperature points. The parameters sensitive to temperature are KA and EA. There are a total of 7 to 9 data related to temperature points. Use the least squares method or the linear fitting method to obtain a second-order fitting function, and input the temperature within the range to obtain the corresponding 12 compensation parameters.

[0105] Refer to Figure 3 In one implementation manner of this embodiment, after obtaining the target calculation method in step S201, where the target calculation method includes the gyroscope calculation method and the accelerometer calculation method, steps S301 to S302 are included:

[0106] Step S301: If the target calculation method is the gyroscope calculation method, obtain the calibrated gyroscope vector, the reference gyroscope vector, and the loss function.

[0107] Specifically, in this embodiment, the external reference gyroscope is outside the rapid temperature control box and aligned with the robotic arm mounting surface. There are two compensation methods for the gyroscope, namely the compensation method based on the external high-precision reference gyroscope and the method of obtaining the gyroscope motion data as calibration data based on the motion path.

[0108] Among them, the compensation method based on the external high-precision reference gyroscope is to obtain the corresponding vectors of the gyroscope to be calibrated and the reference gyroscope simultaneously, and the input quantity is the set of vectors of the gyroscope to be calibrated The output quantity is the set of vectors of the reference gyroscope (calibrated gyroscope) The loss function is the gyroscope data after three-axis compensation The modulus and The absolute value of the modulus difference, and the loss function satisfies the calculation formula:

[0109]

[0110] It should be noted that i represents an intermediate point randomly selected from the motion path. For example, when the gyroscope speed rate is 200 Hz / s and the motion time of a path is 2 s, there are 2000 intermediate points in this path. i ranges from 1 to N, and the number of N varies according to the path design. Generally, the number of N is not less than 10000. In this embodiment, calculation methods such as linear regression and neural network can be used for calculation.

[0111] Step S302: Obtain the gyroscope expected value based on the gyroscope vector to be calibrated, the reference gyroscope vector, and the loss function.

[0112] Specifically, in this embodiment, the gyroscope expected value satisfies the following formula:

[0113]

[0114] Among them, is the expected value of the gyroscope, is a 3*3 matrix, KG is the gyroscope scale factor parameter, A is the gyroscope orthogonality parameter, is the zero point parameter, is the output value of the gyroscope. In this embodiment, there are a total of 12 compensation parameters, and the parameters affected by temperature among the 12 compensation parameters are KG and EG, and tR is the reference temperature point (room temperature).

[0115] Referring to Figure 4 , in one implementation manner of this embodiment, the full-temperature compensation method for obtaining the inertial element parameters in step S102 includes steps S401 to S403:

[0116] Step S401: Obtain the constant temperature point and keep the rapid temperature control box at a constant temperature at the constant temperature point.

[0117] Specifically, the full-temperature compensation method includes a constant-temperature point compensation method. In this embodiment, the rapid temperature control box is maintained at a constant temperature at N temperature points. For example, when N = 7, the corresponding relationship between the temperature points and the subscripts is as follows in the table:

[0118] Temperature °C --40 -20 0 20 40 60 85 Subscript <![CDATA[t 1 > <![CDATA[t 2 > <![CDATA[t 3 > <![CDATA[t 4 (t R )]]> <![CDATA[t 5 > <![CDATA[t 6 > <![CDATA[t 7 >

[0119] According to the method for calculating the inertial element coefficients at the reference temperature points, while keeping the gyroscope orthogonal coefficient A and the accelerometer orthogonal parameter B unchanged, the inertial compensation coefficients at the above temperature points are calculated respectively. Specifically, with A remaining unchanged and i ranging from 1 to 7, calculate With B remaining unchanged and i ranging from 1 to 7, calculate

[0120] Step S402: Select a target parameter and obtain the second-order fitting formula corresponding to the target parameter.

[0121] Specifically, in this embodiment, taking the KGX parameter as an example, obtain KGX t1 、KGX t2 、KGX t3 、 KGX t5 、KGX t6 、KGX t7 ,Taking as a reference, the second-order fitting formula at any temperature point is:

[0122]

[0123] Where is the KGX parameter corresponding to any ambient temperature within the range, T KGX2 is the second-order coefficient taking as a reference, T KGX1 is the first-order coefficient taking as a reference, where Δt = t i -t R is the difference between the actual ambient temperature and the reference temperature.

[0124] Step S403: Based on the second-order fitting formula, obtain the inertial compensation coefficient corresponding to any temperature point.

[0125] Specifically, in this embodiment, by obtaining the 6 temperature coefficients corresponding to all KGs and KAs, and the 6 temperature coefficients corresponding to all EGs and EAs, the specific values of and can be calculated at any temperature point.

[0126] In one implementation manner of this embodiment, the full-temperature compensation method for obtaining inertial element parameters in step S102 further includes step S501:

[0127] Step S501: Based on the accelerometer expected value, the accelerometer scale factor parameter, and the second-order fitting formula, obtain the accelerometer full-temperature compensation formula.

[0128] Specifically, in this embodiment, the accelerometer full-temperature compensation formula is as follows:

[0129]

[0130] where Δt = t i - t R , which is the difference between the ambient temperature and the reference temperature, T KAX2 is the second-order temperature coefficient with as the reference, T KAX1 is the first-order temperature coefficient with as the reference, is the compensation parameter at a certain temperature point within the range, is the compensation parameter at the reference temperature.

[0131] It should be noted that in this application, the full-temperature compensation method further includes a uniform temperature change compensation method. The difference between it and the reference temperature point combined with the uniform temperature change compensation method is that: the parameters to be solved in the reference temperature point combined with the uniform temperature change compensation method are all the second-order temperature coefficients TXXX2 and the first-order temperature coefficients TXXX1. That is to say, after obtaining the reference temperature point compensation parameters (12), the reference temperature point combined with the uniform temperature change compensation method then obtains the data under uniform temperature change and calculates another 12 parameters; while the parameters to be solved in the uniform temperature change compensation method are 24. That is to say, the uniform temperature change compensation method calculates all 24 parameters when all 24 parameters are unknown. Among them, tR needs to be set and can be set to any value within the temperature range. Setting tR is to ensure that Δt is a definite value.

[0132] Form a data set with the vectors of the accelerometers to be calibrated at the static postures at both ends of the path The corresponding reference accelerometer vectors form a data set Acc. The number of vectors included in both sets is N. The reference accelerometer is not affected by temperature outside the temperature control box and is parallel and aligned with the accelerometer inside the temperature control box. The vectors of the set The vectors of the Acc set

[0133] The cost function for accumulating all vector errors is:

[0134]

[0135] Where N is the total number of accelerometers. In this embodiment, there are two calculation methods for this cost function: the traversal method and the linear fitting method. The linear fitting method takes less time to calculate, while the traversal method has higher accuracy. Given the huge computing power of the current computing server, it is convenient to use the traversal method with higher accuracy.

[0136] When using the traversal method, set the maximum value range and minimum resolution of 12 or 24 parameters, which are listed as follows:

[0137]

[0138] Among them, TK**2, TK**1, TE**2, and TE**1 are all temperature coefficients starting with T.

[0139] The data quantity is the total number of data that can be taken within the value range according to the minimum resolution. The total number of all combinations is equal to the product of the data quantities that can be taken. Traverse these parameter combinations, and the parameter combination that makes the convergence function closest to zero is the desired result.

[0140] In one implementation manner of this embodiment, after obtaining the full-temperature compensation formula of the accelerometer based on the accelerometer expected value, the accelerometer scale factor parameter, and the second-order fitting formula in step S501, it further includes step S601:

[0141] Step S601: Obtain the full-temperature compensation formula of the gyroscope based on the gyroscope expected value, the gyroscope scale factor parameter, and the second-order fitting formula.

[0142] Specifically, the full-temperature compensation method includes the reference temperature point combined with the uniform temperature change compensation method. In this embodiment, substitute the second-order fitting formula and the temperature-related parameters K and E into the following formula:

[0143]

[0144] To obtain the full-temperature compensation formula:

[0145] The full-temperature compensation formula of the gyroscope is as follows:

[0146]

[0147] Among them, T KGX2 is the second-order temperature coefficient with as the reference, and T KGX1 is the first-order temperature coefficient with as the reference, is the compensation parameter at a certain temperature point within the range, is the compensation parameter at the reference temperature.

[0148] It should be noted that T KAX2 and T KGX2The difference lies in T KAX2 is the second-order temperature coefficient applied to the full-temperature compensation formula of the accelerometer, and T KGX2 is the second-order temperature coefficient applied to the full-temperature compensation formula of the gyroscope. In addition, and T KAX1 and T KGX1 、 and and The differences are all the same as those between T KAX2 and T KGX2 The differences are the same.

[0149] First, the Rodriguez method is used to calculate the roll angle Roll and pitch angle Pitch from the static data of the accelerometer at the start and end positions of the path. The yaw angle Yaw is the yaw angle output by the robotic arm. Thus, the starting attitude vector and the ending attitude vector

[0150] Taking the starting attitude vector of the path as a reference, the motion data uses all the gyroscope values from the start of the motion to the stop. The attitude vector at the ending position is calculated according to the rotation vector integration method: f 1 The function contains the rotation vector integration method, and f 2 The function is the gyro parameter compensation formula, which can include two forms: the normal temperature compensation formula and the full-temperature compensation formula.

[0151] When the number of all paths is N, the cost function is:

[0152]

[0153] The traversal method is used to obtain the full-temperature compensation parameters of the gyroscope with 12 parameters.

[0154] In a second aspect, the present application also discloses a system for calibrating inertial components based on a rapid temperature control box and a robotic arm.

[0155] Referring to Figure 5 , a system for calibrating inertial components based on a rapid temperature control box and a robotic arm includes:

[0156] A first execution module for installing the inertial component in the micro-space rapid temperature control box;

[0157] A first acquisition module for obtaining the full-temperature compensation method of the inertial component parameters. The full-temperature compensation method includes the full-temperature compensation method at the constant temperature point, the full-temperature compensation method combining the reference temperature point with the uniform temperature change, and the full-temperature compensation method of the uniform temperature change;

[0158] A second acquisition module, configured to acquire a target temperature change curve corresponding to the temperature control box and a target path corresponding to the robotic arm based on a full-temperature compensation method;

[0159] A third acquisition module, configured to control the temperature control box based on the target temperature change curve, and acquire reference inertial element data and target inertial element data;

[0160] A fourth acquisition module, configured to control the robotic arm based on the target path, and acquire robotic arm data;

[0161] A fifth acquisition module, configured to acquire compensation parameters within the full temperature range of the inertial element based on the reference inertial element data, the target inertial element data, the robotic arm data, and a preset algorithm;

[0162] An element calibration module, configured to calibrate the inertial element based on the compensation parameters.

[0163] In a third aspect, an embodiment of the present application discloses an intelligent terminal, including a memory and a processor. The memory is used to store a computer program that can run on the processor. When the processor loads the computer program, it executes a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm in the above embodiment.

[0164] In a fourth aspect, an embodiment of the present application discloses a computer-readable storage medium, and a computer program is stored in the computer-readable storage medium. When the computer program is loaded by the processor, it executes a method for calibrating an inertial element based on a rapid temperature control box and a robotic arm in the above embodiment.

[0165] The above are all preferred embodiments of the present application. The protection scope of the present application is not limited accordingly. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A method for calibrating inertial elements based on a rapid temperature control box and a robotic arm, characterized in that: include: Install the inertial element in a micro-space rapid temperature control box; A full-temperature compensation method for obtaining inertial element parameters, the full-temperature compensation method comprising a constant temperature point full-temperature compensation method, a reference temperature point combined with a uniform temperature change full-temperature compensation method, and a uniform temperature change full-temperature compensation method; Based on the full-temperature compensation method, a target temperature change curve corresponding to the temperature control box and a target path corresponding to the robotic arm are obtained; Based on the target temperature change curve, the temperature control box is controlled, and reference inertial component data and target inertial component data are acquired; Based on the target path, the robot arm is controlled and robot arm data is acquired; Based on the reference inertial element data, the target inertial element data, the robotic arm data and a preset algorithm, obtaining compensation parameters of the inertial element within a full temperature range; The inertial element is calibrated based on the compensation parameter.

2. A method for calibrating inertial elements based on a rapid temperature control box and a robotic arm according to claim 1, characterized in that: Before the full-temperature compensation method for obtaining inertial element parameters, the method further includes: Obtaining a target calculation method, wherein the target calculation method includes a gyroscope calculation method and an accelerometer calculation method; If the target calculation method is the accelerometer calculation method, acquiring an accelerometer path based on the robot arm path; Based on the accelerometer path, obtaining a target posture; Based on the target posture, obtaining an expected accelerometer value; The accelerometer expected value satisfies the following calculation formula: in, is the expected value of the accelerometer, is a 3*3 matrix, KA is the accelerometer scale factor parameter, B is the accelerometer orthogonal parameter, is the zero point parameter, is the output value of the accelerometer.

3. The method for calibrating inertial elements based on a rapid temperature control box and a robotic arm according to claim 2, characterized in that: After obtaining the target calculation method, the target calculation method includes a gyroscope calculation method and an accelerometer calculation method, and further includes: If the target calculation method is the gyroscope calculation method, obtaining a calibrated gyroscope vector, a reference gyroscope vector, and a loss function; Obtaining a gyroscope expected value based on the calibrated gyroscope vector, a reference gyroscope vector and a loss function; The gyroscope expected value satisfies the following formula: in, is the expected value of the gyroscope, is a 3*3 matrix, KG is the gyroscope scale factor parameter, A is the gyroscope orthogonal parameter, is the zero point parameter, is the output value of the gyroscope.

4. According to the method of calibrating inertial elements based on a rapid temperature control box and a robotic arm according to claim 3, the full temperature compensation method includes a constant temperature point compensation method, characterized in that: The full-temperature compensation method for obtaining inertial element parameters includes: Obtaining a constant temperature point, and making the rapid temperature control box maintain a constant temperature at the constant temperature point; Selecting a target parameter and obtaining a second-order fitting formula corresponding to the target parameter; Based on the second-order fitting formula, the inertia compensation coefficient corresponding to any temperature point is obtained.

5. According to the method of calibrating inertial elements based on a rapid temperature control box and a robotic arm according to claim 4, the full temperature compensation method includes a reference temperature point combined with a uniform temperature change compensation method, characterized in that: The full-temperature compensation method for obtaining inertial element parameters includes: Based on the accelerometer expected value, the accelerometer scale factor parameter and the second-order fitting formula, obtaining an accelerometer full-temperature compensation formula; The accelerometer full temperature compensation formula is as follows: Where Δt = t i -t R , is the difference between the ambient temperature and the reference temperature, T KAX2 So is the reference second-order temperature coefficient, T KAX1 So is the first-order temperature coefficient of reference, is the compensation parameter at a certain temperature point within the range, is the compensation parameter at reference temperature.

6. The method for calibrating inertial elements based on a rapid temperature control box and a robotic arm according to claim 5, characterized in that: After obtaining the accelerometer full temperature compensation formula based on the accelerometer expected value, the accelerometer scale factor parameter and the second-order fitting formula, the method further includes: Based on the gyroscope expected value, the gyroscope scale factor parameter and the second-order fitting formula, obtaining a gyroscope full-temperature compensation formula; The gyroscope full temperature compensation formula is as follows: Among them, T KGX2 So is the reference second-order temperature coefficient, T KGX1 So is the first-order temperature coefficient of reference, is the compensation parameter at a certain temperature point within the range, is the compensation parameter at reference temperature.

7. A system for calibrating inertial elements based on a rapid temperature control box and a robotic arm, characterized in that: include: The first execution module is used to install the inertial element in the micro-space rapid temperature control box; A first acquisition module is used to acquire a full-temperature compensation method for inertial element parameters, wherein the full-temperature compensation method includes a constant temperature point full-temperature compensation method, a reference temperature point combined with a uniform temperature change full-temperature compensation method, and a uniform temperature change full-temperature compensation method; A second acquisition module is used to acquire a target temperature change curve corresponding to the temperature control box and a target path corresponding to the robot arm based on the full temperature compensation method; A third acquisition module, used to control the temperature control box based on the target temperature change curve, and acquire reference inertial element data and target inertial element data; a fourth acquisition module, configured to control the robotic arm based on the target path and acquire robotic arm data; a fifth acquisition module, configured to acquire compensation parameters of the inertial element within a full temperature range based on the reference inertial element data, the target inertial element data, the robotic arm data, and a preset algorithm; The component calibration module is used to calibrate the inertial component based on the compensation parameter.

8. An intelligent terminal, comprising a memory and a processor, characterized in that: The memory is used to store a computer program that can be run on the processor, and when the processor loads the computer program, it executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored therein, characterized in that: When the computer program is loaded by a processor, the method according to any one of claims 1 to 6 is executed.

Images