CN109000847A - Calibration method for force sensor - Google Patents
Calibration method for force sensor Download PDFInfo
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- CN109000847A CN109000847A CN201810687455.3A CN201810687455A CN109000847A CN 109000847 A CN109000847 A CN 109000847A CN 201810687455 A CN201810687455 A CN 201810687455A CN 109000847 A CN109000847 A CN 109000847A
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- force
- force snesor
- hydraulic actuator
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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Abstract
The invention discloses a calibration method for a force sensor, which comprises the following steps: s1, respectively arranging a standard force sensor and a force sensor to be calibrated at two sides of a hydraulic actuator, and configuring the standard force sensor and the force sensor to be calibrated to enable the force applied by the hydraulic actuator to be the same; s2, controlling the hydraulic actuator to continuously actuate according to the appointed force application change trend so that the standard force sensor and the force sensor to be calibrated are subjected to continuously-changed force application respectively; s3, acquiring the stress of the standard force sensor in each force application state, and calculating the stress of the force sensor to be calibrated in each force application state according to the calibration relation corresponding to the standard force sensor; and S4, constructing a corresponding relation between the stressed input and the digital quantity output of the force sensor to be calibrated according to the stress of the force sensor to be calibrated in each force application state obtained through calculation. The invention has the advantages of simple realization operation, low required cost, flexible application, high calibration efficiency and precision and the like.
Description
Technical field
The present invention relates to adaptability to changes formula force sensor technologies fields in legged type robot, more particularly to one kind to be suitable for sufficient formula
The scaling method for force snesor of adaptability to changes formula force snesor in robot.
Background technique
Legged type robot is a kind of robot for imitating the design and manufacture such as human or animal, and leg is using series connection multi-joint knot
Structure.According to the difference of model and demand task, legged type robot is segmented into several major class again: imitate mammal list leg into
The monopodia robot of row bouncing function research；Imitate the double feet walking that the mankind carry out stabilized walking, the functional studies such as trot, interact
Robot；The quadruped mammals such as dog, cat, horse, cheetah progress stability, flexibility, load capacity, environmental suitability is imitated to grind
The quadruped robot studied carefully；It imitates the crawling insects such as spider, centipede and is used for the tasks research and development such as dangerous small space exploration, rescue
Multi-foot robot.
To realize that the state of legged type robot controls, usually by arranging force snesor in each joint of robot, by each
Force snesor acquires the data such as the speed of joint of robot, location status in real time, then based on each force snesor to the reality of robot
When state estimated and controlled adjustment.Force snesor used in legged type robot is usually strain force sensor, power
Sensor is a kind of electronic component that force signal is changed into electric signal output, is mainly made of three parts: force sensing element
(i.e. elastomer, common material have aluminium alloy, steel alloy and stainless steel), (most commonly seen is resistance-strain to conversion element
Piece), circuit part (generally having enameled wire, pcb plate etc.), strain force sensor then be based on measurement object receiving force deformation produced
A kind of sensor of raw strain.
Force snesor is demarcated before use, to establish the relationship between sensor input and output quantity.Needle
Calibration to force snesor presently mainly uses following two mode:
1, it is demarcated using the calibration facility of profession.The calibration facility precision of profession is higher, but expensive, realizes
The higher cost of calibration, it is difficult to be widely applied；
2, simple calibrating is carried out by the method for the known qualities weights such as suspension counterweight, such mode is realized simply, calibration
It is at low cost, but the precision demarcated is low, such as uses the calibration mode of counterweight in weight mass measurement, acceleration of gravity selection, hangs
It hangs stability etc. and there are many errors, and when force snesor range is larger (1000N or more), the weight of corresponding range
Selection and operating difficulties.
To solve the above problems, thering is practitioner to propose to demarcate using comparison method, i.e., to standard force snesor and wait mark
Determine force snesor while applying same power, then compares its curve of output, thus complete to treat the calibration for marking force snesor,
In standard force snesor be to have passed through normal component known to the calibrated characteristic of professional calibration facility, using DC torque
After motor gives normal component when measurement respectively, applies a certain size power wait mark sensor as pressure device, every time, record is every
The output valve of the power and normal component, sensor to be marked that give when secondary measurement finally is obtained passing wait mark by multiple measured value
Corresponding relationship between sensor input and output.But there are two main problems for such mode: first is that ordinary motor thrust compared with
It is small, but the active force range that the force snesor in each joint of legged type robot is subjected to is larger, so such mode is unable to satisfy foot
The needs to exert a force on a large scale in formula Robot Force sensor gamut calibration process；Two are the absence of connection normal component and device to be marked
The transmission device of part, so that the driving force that single motor applies can not act on standard and device to be marked simultaneously, and must be in electricity
Increase additional component force device between machine and sensor or increase additional motor, it is complicated to will increase calibration to a certain extent
Degree increases cost of implementation, while reducing calibration efficiency and precision.In addition for the accuracy of guarantee robot motion control and flexibly
Property, need each force snesor each point in stress gamut consecutive variations to all have higher precision, using above-mentioned motor driven
The force snesor of calibration mode be also unable to ensure the stated accuracy of each point in range ability, to will affect the control of robot
Precision.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind realizes easy to operate, required at low cost, flexible in application and calibration efficiency and the scaling method with high accuracy for force snesor.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of scaling method for force snesor, step include:
S1. it builds calibration system: respectively passing standard force snesor, the strain-type power to be calibrated being used in legged type robot
The two sides of hydraulic actuator are arranged in sensor, and configure so that suffered by the standard force snesor, force snesor to be calibrated
The size for the power that the hydraulic actuator applies is identical；
S2. the hydraulic actuator is controlled according to specified force variation tendency and carry out continuous actuation, so that the standard
Force snesor, force snesor to be calibrated are respectively by the force of consecutive variations；
S3. the output valve of standard force snesor when respectively exerting a force state in the step S2 is obtained, and is sensed according to proof force
The corresponding calibration relationship of device calculates the stress size of force snesor to be calibrated when each force state；
S4. the output valve of force snesor to be calibrated when respectively exerting a force state in the step S2 is obtained, and according to the step
The stress size of force snesor to be calibrated, constructs input and the number of force snesor stress to be calibrated when each force state that S3 is obtained
The corresponding relationship of word amount output.
As a further improvement of the present invention: specifically in the side of operating platform installation proof force sensing in the step S1
The integrated hydraulic actuator being made of displacement sensor, hydraulic cylinder, the force snesor installation to be calibrated are installed in device, the other side
In the integrated hydraulic actuator.
As a further improvement of the present invention: the step S1 further include by fixed block by the standard force snesor into
Row is fixed, so that standard force snesor, force snesor stress to be calibrated are in same direction when the hydraulic actuator exerts a force.
As a further improvement of the present invention: further including by the hydraulic actuator and external hydraulic pump in the step S1
It stands and is connected, so that hydraulic oil forms flow cycle between the hydraulic power unit and hydraulic actuator.
As a further improvement of the present invention: the step S2 is specific first to control the liquid according to default initial force size
Actuator actuation is pressed, then controls the actuation for adjusting the hydraulic actuator to adjust force size, until reaching the proof force
The maximum range of sensor, hydraulic actuator output is from continuously applying within the scope of the default initial big as low as maximum range of force
Power.
As a further improvement of the present invention: the actuation that the control adjusts the hydraulic actuator is specifically closed according to linear
System's control gradually increases the force size of the hydraulic actuator.
As a further improvement of the present invention: further including connecting the hydraulic actuator and control terminal in the step S1
It connects；When the step S2 controls the hydraulic actuator progress actuation, the force variation needed for being received by the control terminal becomes
Gesture controls data, issues control instruction to the hydraulic actuator, to control according to required force according to the data received
Variation tendency controls hydraulic actuator and carries out actuation.
As a further improvement of the present invention: the input and number of force snesor stress to be calibrated are constructed in the step S4
After the corresponding relationship for measuring output, further includes the actuation for adjusting the hydraulic actuator according to the corresponding relationship that building obtains, return
Step S3 is executed, until building obtains required corresponding relationship.
As a further improvement of the present invention: when needing to be implemented the calibration of multiple force sensors, the step S4 is executed
After the calibration of complete current force snesor, current force snesor is replaced with into next force snesor to be calibrated, and restore the liquid
Pressure actuator is original state, returns to step S2, until completing the calibration of institute's force sensor.
Compared with the prior art, the advantages of the present invention are as follows:
1) present invention is used for the scaling method of force snesor, by treating mark force snesor based on standard force snesor
Input demarcated with output relation, while using hydraulic actuator as calibration process in force source, passed by proof force
Sensor measures the sizes values of force, after obtaining the digital quantity variation wait mark force snesor, and then determines its digital quantity and stress value
Relationship, navigability is strong, easy to operate and required at low cost, and the mode of combined standard sensor and hydraulic-driven can be real
Existing high-precision calibration.
2) present invention is used for the scaling method of force snesor, by that can apply a certain range to sensor by hydraulic actuator
Interior any adjustable power, applies the power of consecutive variations by controlling hydraulic unit driver during the calibration process to sensor, can be with structure
Corresponding relationship between the input and output of continuous each point is built within the scope of transducer range, can be met continuous when legged type robot control
Stress guarantees the control precision of legged type robot to the accuracy requirement of force snesor.
3) present invention is used for the scaling method of force snesor, by using hydraulic actuator as force source, hydraulic coupling foot
It is enough big, it can satisfy the range needs of force sensor caliberating, and the force of hydraulic actuator can be controlled by external control terminal, it can
To obtain the accurate stress of force snesor to be marked, while exerting a force can be any adjustable in a certain range, to can provide flexibly
It is adjustable to apply pressure to sensor, calibration cost and operation difficulty are reduced under the premise of meeting accuracy requirement
4) mode of scaling method of the present invention for force snesor, combined standard sensor and hydraulic-driven realizes mark
It is fixed, it is applicable to large quantities of quantity sensors and is demarcated, and the cost demarcated is low, while can guarantee higher stated accuracy again.
Detailed description of the invention
Fig. 1 is implementation process schematic diagram of the present embodiment for the scaling method of force snesor.
Fig. 2 is that the present embodiment realizes the schematic illustration for demarcating built calibration system.
Fig. 3 is the implementation process schematic diagram that force sensor is demarcated in the specific embodiment of the invention.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, the present embodiment is used for the scaling method of force snesor, step includes:
S1. it builds calibration system: respectively passing standard force snesor, the strain-type power to be calibrated being used in legged type robot
The two sides of hydraulic actuator are arranged in sensor, and configure so that hydraulic suffered by standard force snesor, force snesor to be calibrated
The size for the power that actuator applies is identical；
S2. continuous actuation is carried out according to specified force variation tendency control hydraulic actuator, so that standard force snesor,
Force snesor to be calibrated is respectively by the force of consecutive variations；
The output valve of standard force snesor when the state that S3. respectively exerts a force in obtaining step S2, and according to standard force snesor pair
The calibration relationship answered calculates the stress size of force snesor to be calibrated when each force state；
The output valve of force snesor to be calibrated when the state that S4. respectively exerts a force in obtaining step S2, and obtained according to step S3
The stress size of force snesor to be calibrated, constructs input and the digital output of force snesor stress to be calibrated when each force state
Corresponding relationship, complete calibration.
The above-mentioned force snesor of the present embodiment is strain force sensor, in each force sensor applications in legged type robot
Before, it first passes through above-mentioned scaling method and each force snesor is demarcated respectively；During robotary, each power is obtained in real time
The output data of sensor, according to passing through, above-mentioned each force snesor obtained by calibrating is inputted and the corresponding relationship of digital output is
It can determine each joint part stress of robot, realize robotary control.
The present embodiment is mounted with the liquid of standard force snesor by this by installing standard force snesor on hydraulic actuator
Pressure actuator applies external force simultaneously to standard transducer and sensor to be marked, and uses hydraulic actuator as force source, hydraulic coupling
It is sufficiently large, it can satisfy the range needs of force sensor caliberating, and the force of hydraulic actuator can be controlled by external control terminal,
The accurate stress of force snesor to be marked can be obtained, while exerting a force can be any adjustable in a certain range, to can provide spirit
Work is adjustable to apply pressure to sensor, and calibration cost and operation difficulty are reduced under the premise of meeting accuracy requirement.
The present embodiment is marked by treating the input of mark force snesor based on standard force snesor with output relation
It is fixed, while using hydraulic unit driver (hydraulic actuator) as the force source in calibration process, it is measured and is applied by standard force snesor
The sizes values of power after obtaining the digital quantity variation wait mark force snesor, and then determine the relationship of its digital quantity and stress value, can grasp
Vertical property is strong, easy to operate and required at low cost, and the mode of combined standard sensor and hydraulic-driven may be implemented high-precision
Calibration, and any adjustable power in a certain range can be applied to sensor by hydraulic actuator, by controlling during the calibration process
Hydraulic unit driver applies the power of consecutive variations to sensor, can construct within the scope of transducer range the input of continuous each point with it is defeated
Corresponding relationship between out can meet continuous stress when legged type robot control and guarantee sufficient formula machine to the accuracy requirement of force snesor
The control precision of device people.
As shown in Fig. 2, specifically installing standard force snesor, the other side in the side of operating platform in the present embodiment step S1
The integrated hydraulic actuator being made of displacement sensor, hydraulic cylinder is installed, force snesor to be calibrated is mounted on integrated hydraulic
In actuator.
In the present embodiment, step S1 further includes that standard force snesor is fixed by fixed block, so that hydraulic work
Standard force snesor, force snesor stress to be calibrated further ensure that the accuracy of calibration in same direction when dynamic device force.
It further include that hydraulic actuator is connected with external hydraulic pumping plant in the present embodiment, in step S1, so that hydraulic oil exists
Flow cycle is formed between hydraulic power unit and hydraulic actuator, the force by the flowing control actuator of control hydraulic oil is big
It is small.
In the present embodiment, step S2 is specific first to control hydraulic actuator actuation according to default initial force size, then controls
The actuation of hydraulic actuator is adjusted to adjust force size, until reaching the maximum range of standard force snesor, hydraulic actuator
It exports from the continuous applying force within the scope of the default initial big as low as maximum range of force.In calibration process, according to the amount of force snesor
Journey sets the force starting size and maximum value of hydraulic actuator, same to standard force snesor and the force snesor for needing to demarcate
When apply and meet the variable external forces of gamut, be used as power the size of hydraulic force with rationally controlling actuator, calibration can cover
The gamut of force snesor.
In the present embodiment, the actuation of control adjustment hydraulic actuator specifically gradually increases hydraulic work according to linear relationship control
The force size of dynamic device, i.e., since initially force size, in range ability the force of hydraulic actuator by linear relationship by
It is cumulative to add, so that the force of hydraulic actuator output linear change can be realized in range ability and connect in conjunction with above-mentioned scaling method
Corresponding relationship between continuous input and digital output, it is ensured that the stated accuracy of each point in range ability.
It further include connecting hydraulic actuator with control terminal in step S1, meter specifically can be used in control terminal in the present embodiment
Calculation machine etc., it may be convenient to realize the control and regulation of force size；When step S2 controls hydraulic actuator progress actuation, pass through control
Force variation tendency needed for end processed receives controls data, issues control instruction to hydraulic actuator according to the data received,
Actuation is carried out according to required force variation tendency control hydraulic actuator to control, for that can be arranged according to actual needs not
Same force control instruction, to meet the application scenarios of various different calibration.
As shown in figure 3, the detailed process demarcated in the specific embodiment of the invention to force snesor are as follows: in station
Standard force snesor is installed in left side, which has been demarcated in advance, has high accuracy, the right side of station
Integrated hydraulic actuator is installed in side, which is made of force snesor, displacement sensor and hydraulic cylinder, and wherein proof force passes
Sensor is fixed by fixed block, with guarantee hydraulic cylinder force when standard force snesor and testing force force acting on transducer same
One direction makes hydraulic oil in pumping plant and hydraulic work as shown in Fig. 2, integrated hydraulic actuator is connected with extraneous hydraulic power unit
Flow cycle is formed between dynamic device；When being demarcated, hydraulic cylinder is controlled by computer and carries out actuation, in actuator force range
Within the scope of force acting on transducer, using the hydraulic power for applying consecutive variations to sensor, proof force sensing is read in a computer
The digital quantity of device and testing force force acting on transducer；According to the calibration relationship of standard force snesor and the digital quantity of output, calculate
The stress of standard force snesor out, the stress are identical as testing force force acting on transducer；According to the size for the stress being calculated with
The digital quantity of force snesor output to be measured, calculates the corresponding relationship of testing force force acting on transducer input and digital output, complete
At calibration.
In the present embodiment, the input of force snesor stress to be calibrated and the corresponding relationship of digital output are constructed in step S4
Afterwards, further include the actuation for adjusting hydraulic actuator according to the corresponding relationship that building obtains, return to step S3, until constructing
To required corresponding relationship.It constructs to obtain sensor input to be calibrated and digital output having executed above-mentioned steps S1~S4
After corresponding relationship, if obtained calibration result is unsatisfactory for demand, needs such as more demanding to Mr. Yu's segment data are further increased
Precision etc. can readjust the actuation of hydraulic actuator, adjust the force of hydraulic actuator to required size, re-execute
Calibration process is stated, realizes flexibly adjustable calibration, it is ensured that the precision of calibration.
In the present embodiment, when needing to be implemented the calibration of multiple force sensors, step S4 has executed current force snesor
After calibration, current force snesor is replaced with into next force snesor to be calibrated, and restoring hydraulic actuator is original state, is returned
Receipt row step S2, until completing the calibration of institute's force sensor.In conjunction with the calibration mode of hydraulic-driven, it may be convenient to realize
The mark of next force snesor can be performed in the calibration of high-volume force snesor, the state for only needing to restore hydraulic actuator every time
It is fixed, realize that the cost of high-volume transducer calibration is low, while can guarantee higher stated accuracy again.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (9)
1. a kind of scaling method for force snesor, which is characterized in that step includes:
S1. calibration system is built: respectively by standard force snesor, the strain force sensor to be calibrated being used in legged type robot
The two sides of hydraulic actuator are set, and are configured so that described suffered by the standard force snesor, force snesor to be calibrated
The size for the power that hydraulic actuator applies is identical；
S2. the hydraulic actuator is controlled according to specified force variation tendency and carry out continuous actuation, so that the proof force passes
Sensor, force snesor to be calibrated are respectively by the force of consecutive variations；
S3. the output valve of standard force snesor when respectively exerting a force state in the step S2 is obtained, and according to standard force snesor pair
The calibration relationship answered calculates the stress size of force snesor to be calibrated when each force state；
S4. the output valve of force snesor to be calibrated when respectively exerting a force state in the step S2 is obtained, and is obtained according to the step S3
The stress size of force snesor to be calibrated, constructs input and the digital quantity of force snesor stress to be calibrated when each force state taken
The corresponding relationship of output.
2. the scaling method according to claim 1 for force snesor, it is characterised in that: specifically exist in the step S1
Standard force snesor is installed in the side of operating platform, and the integrated hydraulic being made of displacement sensor, hydraulic cylinder is installed in the other side
Actuator, the force snesor to be calibrated are mounted in the integrated hydraulic actuator.
3. the scaling method according to claim 2 for force snesor, which is characterized in that the step S1 further includes leading to
Cross fixed block the standard force snesor is fixed so that standard force snesor when the hydraulic actuator exerts a force, to
Force snesor stress is demarcated in same direction.
4. the scaling method according to claim 3 for force snesor, it is characterised in that: further include in the step S1
The hydraulic actuator is connected with external hydraulic pumping plant, so that hydraulic oil shape between the hydraulic power unit and hydraulic actuator
At flow cycle.
5. being used for the scaling method of force snesor described in any one according to claim 1~4, it is characterised in that: described
Step S2 is specific first to control the hydraulic actuator actuation according to default initial force size, then controls the adjustment hydraulic actuation
The actuation of device is to adjust force size, until reach the maximum range of the standard force snesor, the hydraulic actuator output
Continuous applying force out of default the initial big as low as maximum range of force.
6. the scaling method according to claim 5 for force snesor, it is characterised in that: the control adjusts the liquid
The actuation of actuator is pressed specifically to gradually increase the force size of the hydraulic actuator according to linear relationship control.
7. being used for the scaling method of force snesor described in any one according to claim 1~4, which is characterized in that described
It further include connecting the hydraulic actuator with control terminal in step S1；The step S2 controls the hydraulic actuator and is made
When dynamic, the force variation tendency needed for being received by the control terminal controls data, issues control according to the data received and refers to
It enables to the hydraulic actuator, carries out actuation according to required force variation tendency control hydraulic actuator to control.
8. being used for the scaling method of force snesor described in any one according to claim 1~4, which is characterized in that described
It further include according to constructing after constructing the input of force snesor stress to be calibrated and the corresponding relationship of digital output in step S4
To corresponding relationship adjust the actuation of the hydraulic actuator, S3 is returned to step, until building obtains required corresponding close
System.
9. being used for the scaling method of force snesor described in any one according to claim 1~4, which is characterized in that when need
When executing the calibration of multiple force sensors, after the step S4 has executed the calibration of current force snesor, current power is sensed
Device replaces with next force snesor to be calibrated, and restoring the hydraulic actuator is original state, returns to step S2, directly
To the calibration for completing institute's force sensor.
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Cited By (4)
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| CN110567639A (en) * | 2019-07-31 | 2019-12-13 | 中国航天空气动力技术研究院 | Multi-axis force sensor calibration method and calibration device |
| WO2020243696A1 (en) | 2019-05-30 | 2020-12-03 | Nextinput, Inc. | Systems and methods for continuous mode force testing |
| US20230258522A1 (en) * | 2022-02-14 | 2023-08-17 | Hewlett-Packard Development Company, L.P. | Input device calibrations |
| CN118310676A (en) * | 2024-04-26 | 2024-07-09 | 北京和利时电机技术有限公司 | Sensor calibration method for electronic back pressure system |
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