CN112066862A - Position calibration method and device for linear displacement steering engine and terminal - Google Patents
Position calibration method and device for linear displacement steering engine and terminal Download PDFInfo
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- CN112066862A CN112066862A CN202010732699.6A CN202010732699A CN112066862A CN 112066862 A CN112066862 A CN 112066862A CN 202010732699 A CN202010732699 A CN 202010732699A CN 112066862 A CN112066862 A CN 112066862A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
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- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The application belongs to the technical field of robots and provides a position calibration method, a position calibration device and a position calibration terminal of a linear displacement steering engine, wherein the position calibration method of the linear displacement steering engine comprises the following steps: detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine; if the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine, controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed; acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and finishing the acquisition of the first voltage value until the first voltage value is kept unchanged; and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value, so as to realize the calibration of the position of the linear displacement steering engine.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a position calibration method, device and terminal for a linear displacement steering engine.
Background
Steering engines have a wide range of applications and are a core element of many machines. Therefore, the performance of the steering engine determines the performance of the robot such as the intelligent robot. For example, in an intelligent robot, a steering engine is a key element for forming a joint assembly of the intelligent robot as a power element in the intelligent robot, and is also a key element for realizing intellectualization of the intelligent robot. In order to enable the steering engine of the robot finger to perform stretching movement and contraction movement, a linear push-pull microminiature steering engine needs to be applied, and the position of the microminiature steering engine needs to be calibrated so as to realize detection of the position of the microminiature steering engine.
Disclosure of Invention
The embodiment of the application provides a position calibration method, a position calibration device and a position calibration terminal of a linear displacement steering engine, and the position calibration of the linear displacement steering engine can be realized.
The first aspect of the embodiments of the present application provides a position calibration method for a linear displacement steering engine, where the linear displacement steering engine includes a hall sensor for detecting the displacement of the linear displacement steering engine; the position calibration method of the linear displacement steering engine comprises the following steps:
detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by using the Hall sensor;
if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine, controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed;
acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and finishing the acquisition of the first voltage value until the first voltage value is kept unchanged;
and storing the first voltage values according to the acquired time sequence, and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
In a second aspect of the embodiments of the present application, a position calibration device for a linear displacement steering engine is provided, where the linear displacement steering engine includes a hall sensor for detecting a displacement of the linear displacement steering engine; the position calibration device of the linear displacement steering engine comprises:
the detection unit is used for detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by utilizing the Hall sensor;
the control unit is used for controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine;
the acquisition unit is used for acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and completing acquisition of the first voltage value until the first voltage value is kept unchanged;
and the generating unit is used for storing the first voltage values according to the acquired time sequence and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
A third aspect of the embodiments of the present application provides a terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the steps of the above method.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal, causes the terminal to implement the steps of the above method when executed.
In the embodiment of the application, in the process of calibrating the position of a linear displacement steering engine, firstly, the Hall sensor is utilized to detect whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine, and when the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine, the linear displacement steering engine is controlled to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed; then, acquiring a first voltage value acquired by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at preset time intervals, finishing acquisition of the first voltage value until the first voltage value is kept unchanged, finally storing the first voltage value according to the acquired time sequence, generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value, and finishing position calibration of the linear displacement steering engine.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a linear displacement steering engine provided in an embodiment of the present application;
fig. 2 is a schematic flow chart illustrating an implementation of a position calibration method for a linear displacement steering engine according to an embodiment of the present application;
fig. 3 is a schematic flow chart illustrating an implementation of step 201 of a position calibration method for a linear displacement steering engine according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating steps of another method for calibrating a position of a linear displacement actuator according to the embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a position calibration device of a linear displacement steering engine according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In order to explain the technical means of the present application, the following description will be given by way of specific examples.
The embodiment of the application provides a position calibration method, a position calibration device and a position calibration terminal of a linear displacement steering engine, and the position of the linear displacement steering engine can be calibrated.
It should be noted that, above-mentioned linear displacement steering wheel can be for being applied to the linear displacement steering wheel of robot finger joint, in order to miniaturize the linear displacement steering wheel that is applied to robot finger joint, the linear displacement steering wheel in this application embodiment adopts hall sensor to replace the linear potentiometer, and utilizes this hall sensor to detect the displacement of linear displacement steering wheel to solve the linear displacement that adopts the linear potentiometer to detect linear displacement steering wheel at present, the linear displacement steering wheel that exists is bulky, the test accuracy is relatively poor, assemble complicated problem.
As shown in fig. 1, the linear displacement steering engine may include a motor 10, a transmission 20, a lead screw 30, a push rod 40, and a hall sensor 50. Specifically, the transmission device 20 is connected with the motor 10 and is used for rotating under the driving of the motor 1, the lead screw 30 is connected with the transmission device 20 and is used for rotating along with the rotation of the transmission device 20, the push rod 40 is connected with the lead screw 30 and is used for performing linear motion along with the rotation of the lead screw 30, the magnet 41 is arranged on the push rod 40, and the hall sensor 50 is used for detecting the magnetic field change of the magnet 41 and outputting corresponding voltage according to the magnetic field change of the magnet 41.
In this embodiment, when the motor 10 rotates, the lead screw 30 is driven to rotate through the transmission device 20, the lead screw 30 drives the push rod 40 to perform linear motion, because the magnet 41 is arranged on the push rod 40, the push rod 40 can drive the magnet 41 to move when performing linear motion, at this moment, the hall sensor 50 can sense the change of the magnetic field strength of the magnet 41, when the magnetic field strength of the magnet 41 changes along with the change of the moving distance of the push rod, the sensing voltage of the hall sensor 50 also changes in response, and therefore the linear motion of the steering engine is detected by using the linear motion of the magnet 41.
Based on the linear displacement steering engine shown in fig. 1, an embodiment of the present application provides a method for calibrating a position of the linear displacement steering engine, and specifically, as shown in fig. 2, an implementation flow diagram of the method for calibrating a position of the linear displacement steering engine provided in the embodiment of the present application is provided. Wherein, the terminal can be intelligent terminals such as humanoid robot, computer, etc. The position calibration method of the linear displacement steering engine can comprise the steps of 201 to 204.
The first end of the mechanical stroke of the linear displacement steering engine can be the initial position of the mechanical stroke of the linear displacement steering engine or the final position of the mechanical stroke of the linear displacement steering engine; when the first end of the mechanical stroke of the linear displacement steering engine is the initial position of the mechanical stroke of the linear displacement steering engine, the second end of the mechanical stroke of the linear displacement steering engine is the final position of the mechanical stroke of the linear displacement steering engine; when the first end of the mechanical stroke of the linear displacement steering engine is the final position of the mechanical stroke of the linear displacement steering engine, the second end of the mechanical stroke of the linear displacement steering engine is the initial position of the mechanical stroke of the linear displacement steering engine.
In the embodiment of the application, whether the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine is detected, so that whether the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine is detected, the first voltage value of a mapping relation table between the output voltage of a Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine is collected, and the collection of the first voltage value is completed until the first voltage value is kept unchanged, so that the first voltage value of the Hall sensor corresponding to the linear displacement steering engine in the whole mechanical stroke is obtained.
Optionally, in some embodiments of the present application, as shown in fig. 3, in step 201, detecting, by using the hall sensor, whether the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine may include: step 301 to step 302.
And 301, acquiring a second voltage value acquired by the Hall sensor in the process that the linear displacement steering engine moves towards the first end of the mechanical stroke of the linear displacement steering engine.
And 302, when the second voltage value is kept unchanged, determining that the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine.
In the embodiment of the application, when the second voltage value is kept unchanged, the linear displacement steering engine reaches the initial position or the final position of the mechanical stroke of the linear displacement steering engine, and cannot move continuously along the current displacement direction, so that the linear displacement steering engine can be determined to be detected to be located at the first end of the mechanical stroke of the linear displacement steering engine.
Specifically, in some embodiments of the present application, after acquiring a second voltage value output by the hall sensor in a process of moving to the first end of the mechanical stroke of the linear displacement steering engine, the acquiring may include: storing the second voltage value into the initialized first memory; wherein the first memory includes N basic memory cells; and if the voltage values stored in the N basic storage units are the same, confirming that the second voltage value is kept unchanged.
When the first memory is initialized, the N basic memory cells in the first memory can store different initialization data, so as to avoid misjudgment in the process of determining whether the second voltage value is unchanged.
In some embodiments of the application, the hall sensor is used for detecting whether the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine, the output voltage of the hall sensor can be used as a reference voltage when the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine through pre-collecting the output voltage of the hall sensor, so that in the process of carrying out position calibration on the linear displacement steering engine, a second voltage value output by the hall sensor can be compared with the reference voltage, and when the second voltage value is equal to the reference voltage, the linear displacement steering engine is determined to be detected to be located at the first end of the mechanical stroke of the linear displacement steering engine.
And 202, if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine, controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed.
In the embodiment of the application, when the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine, controlling the linear displacement steering engine to move at a constant speed towards the second end of the mechanical stroke of the linear displacement steering engine, so that when a first voltage value output by the Hall sensor in the process of uniform motion of the linear displacement steering engine to the second end of the mechanical stroke of the linear displacement steering engine is collected at preset time intervals, the displacement of the linear displacement steering engine is a fixed value, namely, the first voltage value output by the Hall sensor in the process of uniform motion of the linear displacement steering engine to the second end of the mechanical stroke of the linear displacement steering engine is acquired every equal displacement interval, and then can be after accomplishing the collection of first voltage value, can confirm the displacement of the corresponding straight line displacement steering wheel of every first voltage value according to the quantity of first voltage value.
For example, assuming that the displacement of the linear displacement steering engine corresponding to the first voltage value is 0, the displacement of the linear displacement steering engine corresponding to the first voltage value is L/N, where L is the displacement of the full mechanical stroke of the linear displacement steering engine, and N is the number of the acquired first voltage values.
And 203, acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves at a constant speed to the second end of the mechanical stroke of the linear displacement steering engine at preset time intervals, and finishing the acquisition of the first voltage value until the first voltage value is unchanged.
When the first voltage value is kept unchanged, the linear displacement steering engine reaches the initial position or the final position of the mechanical stroke of the linear displacement steering engine, and cannot move continuously along the current displacement direction, so that the linear displacement steering engine can be determined to move from the first end of the mechanical stroke of the linear displacement steering engine to the second end of the mechanical stroke of the linear displacement steering engine at a constant speed, and the collection of the first voltage value is completed.
Optionally, in some embodiments of the application, after acquiring a first voltage value output by the hall sensor in a process of uniform motion of the linear displacement steering engine to the second end of the mechanical stroke of the linear displacement steering engine at preset time intervals, the first voltage value may be stored in the second memory, and the number of the acquired first voltage values is accumulated until the acquisition of the first voltage value is completed.
And 204, storing the first voltage values according to the acquired time sequence, and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
Optionally, in some embodiments of the application, the storing the first voltage value according to the collected time sequence, and generating a mapping relationship table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value may include: and storing the first voltage values stored in the second memory in an array form according to the acquired time sequence, and storing the accumulated number of the first voltage values in the array to obtain a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
For example, the accumulated number of the first voltage values is stored by a first element Tab [0] of the array Tab [ ], and the first voltage values stored in the second memory are stored in the order of acquisition time from a second element of the array Tab [ ], so that the displacement of the linear displacement steering engine corresponding to each first voltage value can be determined based on the position of the first voltage value in the array Tab [ ].
In practical application, when a certain voltage value is equal to a first voltage value corresponding to a certain element in the array Tab [ ], for example, the first voltage value corresponding to the 3 rd element, the displacement of the linear displacement steering engine corresponding to the voltage value is 2L/N, where N is the number of the first voltage values, that is, Tab [0 ]; and L is the displacement of the full mechanical stroke of the linear displacement steering engine.
In the above embodiments, after the mapping table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine is generated based on the stored first voltage value, the position of the linear displacement steering engine may be detected in real time using the mapping table.
For example, as shown in fig. 4, after the generating of the mapping table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value, the generating of the mapping table may include: step 401 to step 402.
And 402, determining the displacement of the linear displacement steering engine corresponding to the third voltage value according to a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
Specifically, the determining of the displacement of the linear displacement steering engine corresponding to the third voltage value according to the mapping relationship table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine may include: and searching a first voltage value which is equal to the third voltage value in the mapping relation table by utilizing a bisection method to obtain the displacement of the linear displacement steering engine corresponding to the third voltage value.
For example, if it is collected that a third voltage value output by the hall sensor in the motion process of the linear displacement steering engine is Vhal, a first voltage value Tab [ i ] which is equal to the third voltage value in the mapping relation table is searched by using a bisection method, and then the displacement of the linear displacement steering engine corresponding to the third voltage value Vhal is obtained as i × L/N.
Wherein, the determining the displacement of the linear displacement steering engine corresponding to the third voltage value according to the mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine may further include: and if the displacement of the linear displacement steering engine corresponding to the third voltage value is not recorded in a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine, calculating the displacement of the linear displacement steering engine corresponding to the third voltage value by using an interpolation method according to the mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
For example, a third voltage value output by the hall sensor in the motion process of the linear displacement steering engine is collected to be Vhal, a first voltage value Tab [ i ] closest to the third voltage value in the mapping relation table is searched by using a bisection method, and the displacement of the linear displacement steering engine corresponding to the third voltage value is obtained to be { i + (Vhal-Tab [ i +1])/(Tab [ i +2] -Tab [ i +2]) } L/N.
Optionally, in some embodiments of the application, after obtaining the mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine, a function fitting may be performed on the first voltage value and the displacement of the linear displacement steering engine corresponding to the first voltage value to obtain a function expression between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
Determining the displacement of the linear displacement steering engine corresponding to the third voltage value according to the mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine can further comprise: substituting the third voltage value into the function expression to calculate the displacement of the linear displacement steering engine corresponding to the third voltage value.
In each of the above embodiments, before calibrating the position of the linear displacement steering engine, it may be further detected whether a command for calibrating the position of the linear displacement steering engine is received, or whether a terminal stores a mapping relation table between output voltages of hall sensors of the linear displacement steering engine and displacements of the linear displacement steering engine, and when the command for calibrating the position of the linear displacement steering engine is received, or when it is detected that the terminal does not store the mapping relation table between the output voltages of the hall sensors of the linear displacement steering engine and the displacements of the linear displacement steering engine, the step of calibrating the position of the linear displacement steering engine may be performed.
It should be noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders.
Fig. 5 is a schematic structural diagram of a position calibration device 500 of a linear displacement steering engine provided in an embodiment of the present application, where the linear displacement steering engine includes a hall sensor for detecting displacement of the linear displacement steering engine; the position calibration device 500 of the linear displacement steering engine may include:
the detection unit 501 is used for detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by using the hall sensor;
the control unit 502 is used for controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine;
the acquisition unit 503 is configured to acquire, at preset time intervals, first voltage values output by the hall sensors in a process that the linear displacement steering engine moves at a constant speed to the second end of the mechanical stroke of the linear displacement steering engine, and when the first voltage values remain unchanged, the acquisition of the first voltage values is completed;
the generating unit 504 is configured to store the first voltage values according to the acquired time sequence, and generate a mapping relationship table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
It should be noted that, for convenience and simplicity of description, the specific working process of the position calibration device 500 for a linear displacement steering engine described above may refer to the corresponding process of the method described in fig. 1 to fig. 4, and is not described herein again.
Fig. 6 is a schematic diagram of a terminal according to an embodiment of the present application. The terminal 6 may include: a processor 60, a memory 61 and a computer program 62 stored in said memory 61 and executable on said processor 60, such as a position calibration program for a linear displacement steering engine. When the processor 60 executes the computer program 62, the steps in the embodiments of the position calibration method for each linear displacement steering engine described above are implemented, for example, the steps 201 to 204 shown in fig. 2. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 501 to 504 shown in fig. 5.
The computer program may be divided into one or more modules/units, which are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the terminal. For example, the computer program may be divided into a detection unit, a control unit, an acquisition unit and a generation unit, each unit having the following specific functions:
the detection unit is used for detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by utilizing the Hall sensor;
the control unit is used for controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine;
the acquisition unit is used for acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and completing acquisition of the first voltage value until the first voltage value is kept unchanged;
and the generating unit is used for storing the first voltage values according to the acquired time sequence and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
The terminal can be intelligent equipment such as a humanoid robot, a desktop computer, a palm computer and a cloud server. The terminal may include, but is not limited to, a processor 60, a memory 61. Those skilled in the art will appreciate that fig. 6 is only an example of a terminal and is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or different components, e.g., the terminal may also include input-output devices, network access devices, buses, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the terminal, such as a hard disk or a memory of the terminal. The memory 61 may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal. The memory 61 is used for storing the computer program and other programs and data required by the terminal. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other ways. For example, the above-described apparatus/terminal embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. The position calibration method of the linear displacement steering engine is characterized in that the linear displacement steering engine comprises a Hall sensor for detecting the displacement of the linear displacement steering engine; the position calibration method of the linear displacement steering engine comprises the following steps:
detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by using the Hall sensor;
if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine, controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed;
acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and finishing the acquisition of the first voltage value until the first voltage value is kept unchanged;
and storing the first voltage values according to the acquired time sequence, and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
2. The method for calibrating the position of the linear displacement steering engine according to claim 1, wherein the step of detecting whether the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine by using the hall sensor comprises the following steps:
acquiring a second voltage value output by the Hall sensor in the process that the linear displacement steering engine moves to the first end of the mechanical stroke of the linear displacement steering engine;
and when the second voltage value is kept unchanged, determining that the linear displacement steering engine is located at the first end of the mechanical stroke of the linear displacement steering engine.
3. The method for calibrating the position of the linear displacement steering engine according to claim 2, wherein after the step of acquiring the second voltage value output by the hall sensor in the process that the linear displacement steering engine moves to the first end of the mechanical stroke of the linear displacement steering engine, the method comprises the following steps:
storing the second voltage value into the initialized first memory; wherein the first memory includes N basic memory cells;
and if the voltage values stored in the N basic storage units are the same, confirming that the second voltage value is kept unchanged.
4. The position calibration method of the linear displacement steering engine according to claim 1, wherein after the first voltage value output by the hall sensor in the process of uniform motion of the linear displacement steering engine to the second end of the mechanical stroke of the linear displacement steering engine is collected at preset time intervals, the method comprises the following steps:
and storing the first voltage value in a second memory, and accumulating the acquired number of the first voltage value until the acquisition of the first voltage value is completed.
5. The method for calibrating the position of the linear displacement steering engine according to claim 4, wherein the step of storing the first voltage value according to the collected time sequence and generating a mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value comprises the following steps:
and storing the first voltage values stored in the second memory in an array form according to the acquired time sequence, and storing the accumulated number of the first voltage values in the array to obtain a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
6. The method for calibrating the position of the linear displacement steering engine according to claim 1, wherein after the step of generating the mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage value, the method comprises the following steps:
collecting a third voltage value output by the Hall sensor in the motion process of the linear displacement steering engine;
and determining the displacement of the linear displacement steering engine corresponding to the third voltage value according to a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
7. The position calibration method of the linear displacement steering engine according to claim 6, wherein the step of determining the displacement of the linear displacement steering engine corresponding to the third voltage value according to the mapping relation table between the output voltage of the hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine comprises the steps of:
and if the displacement of the linear displacement steering engine corresponding to the third voltage value is not recorded in a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine, calculating the displacement of the linear displacement steering engine corresponding to the third voltage value by using an interpolation method according to the mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine.
8. The position calibration device of the linear displacement steering engine is characterized in that the linear displacement steering engine comprises a Hall sensor for detecting the displacement of the linear displacement steering engine; the position calibration device of the linear displacement steering engine comprises:
the detection unit is used for detecting whether the linear displacement steering engine is positioned at the first end of the mechanical stroke of the linear displacement steering engine by utilizing the Hall sensor;
the control unit is used for controlling the linear displacement steering engine to move towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed if the linear displacement steering engine is detected to be positioned at the first end of the mechanical stroke of the linear displacement steering engine;
the acquisition unit is used for acquiring a first voltage value output by the Hall sensor in the process that the linear displacement steering engine moves towards the second end of the mechanical stroke of the linear displacement steering engine at a constant speed at intervals of preset time, and completing acquisition of the first voltage value until the first voltage value is kept unchanged;
and the generating unit is used for storing the first voltage values according to the acquired time sequence and generating a mapping relation table between the output voltage of the Hall sensor of the linear displacement steering engine and the displacement of the linear displacement steering engine according to the stored first voltage values.
9. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| CN202010732699.6A CN112066862A (en) | 2020-07-27 | 2020-07-27 | Position calibration method and device for linear displacement steering engine and terminal |
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| CN202010732699.6A CN112066862A (en) | 2020-07-27 | 2020-07-27 | Position calibration method and device for linear displacement steering engine and terminal |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112428277A (en) * | 2020-12-18 | 2021-03-02 | 广东优碧胜科技有限公司 | Position calibration method and device, computer equipment and storage medium |
| CN113639628A (en) * | 2021-10-18 | 2021-11-12 | 西安联飞智能装备研究院有限责任公司 | Calibration method and device for steering engine angular position measuring device, steering engine and storage medium |
| CN113639628B (en) * | 2021-10-18 | 2022-03-01 | 西安联飞智能装备研究院有限责任公司 | Calibration method and device for steering engine angular position measuring device, steering engine and storage medium |
| CN114578788A (en) * | 2022-03-02 | 2022-06-03 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Displacement calibration method and device of displacement mechanism |
| CN114578788B (en) * | 2022-03-02 | 2023-06-09 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Displacement calibration method and device of displacement mechanism |
| CN114705116A (en) * | 2022-03-25 | 2022-07-05 | 湖北三江航天红峰控制有限公司 | Hall sensor control method, device and system based on single chip microcomputer and computer medium |
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Application publication date: 20201211 |