CN114509093A - Gyroscope calibration detection method, device and equipment and storage medium - Google Patents
Gyroscope calibration detection method, device and equipment and storage medium Download PDFInfo
- Publication number
- CN114509093A CN114509093A CN202210419159.1A CN202210419159A CN114509093A CN 114509093 A CN114509093 A CN 114509093A CN 202210419159 A CN202210419159 A CN 202210419159A CN 114509093 A CN114509093 A CN 114509093A
- Authority
- CN
- China
- Prior art keywords
- gyroscope
- rotation angle
- angle value
- preset
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a gyroscope calibration detection method, a gyroscope calibration detection device, gyroscope calibration equipment and a gyroscope calibration storage medium, and belongs to the technical field of detection. The method comprises the following steps: when the fact that the turntable drives the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value is detected, a first rotation angle value of the gyroscope is obtained; when it is detected that the turntable drives the equipment to be calibrated to rotate by a second preset rotation angle value along a second rotation direction, acquiring a second rotation angle value of the gyroscope; wherein the second rotational direction is opposite the first rotational direction; judging whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference range or not; and if the first difference value and the second difference value are both within the preset difference value range, the calibration detection is passed. The invention can improve the precision of calibration detection.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a gyroscope calibration detection method, a gyroscope calibration detection device, gyroscope calibration detection equipment and a storage medium.
Background
When the sweeping robot automatically sweeps, the gyroscope is matched with an indoor navigation positioning system to control the sweeping robot to walk in a preset area, the gyroscope needs to acquire change data of the rotation angle value of the sweeping robot in the process, and in order to ensure the detection precision of the angle value of the gyroscope, precision calibration detection needs to be carried out on the sweeping robot before leaving a factory.
The existing gyroscope calibration detection only compares the angle value parameter of the gyroscope to be calibrated with the reference angle value parameter, and the error of the calibration detection result is larger.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for calibrating and detecting a gyroscope, and aims to solve the problem of larger calibration and detection errors of the gyroscope in the prior art.
In order to achieve the above object, the present invention provides a method for detecting calibration of a gyroscope, which is used for a device to be calibrated, wherein the device to be calibrated is arranged on a turntable, and the device to be calibrated is provided with a gyroscope; the method comprises the following steps:
when the fact that the turntable drives the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value is detected, a first rotation angle value of the gyroscope is obtained;
when it is detected that the turntable drives the equipment to be calibrated to rotate by a second preset rotation angle value along a second rotation direction, acquiring a second rotation angle value of the gyroscope; wherein the second rotational direction is opposite the first rotational direction;
judging whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference range or not;
and if the first difference value and the second difference value are both within the preset difference value range, the calibration detection is passed.
In an embodiment, after determining whether a first difference between the first rotation angle value and the first preset rotation angle value and a second difference between the second rotation angle value and the second preset rotation angle value are both within a preset difference range, the method further includes:
if at least one of the first difference value and the second difference value is not in the preset difference value range, the calibration detection is not passed.
In an embodiment, before the obtaining of the first rotation angle value of the gyroscope when it is detected that the turntable drives the device to be calibrated to rotate along the first rotation direction by the first preset rotation angle value, the method further includes:
judging whether the gyroscope completes initialization within a first preset time;
and if the initialization is finished, acquiring a first rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate a first preset rotation angle value along a first rotation direction.
In an embodiment, after determining whether the initialization of the gyroscope is completed within a first preset time, the method further includes:
if the initialization is not completed, the calibration detection is not passed.
In an embodiment, the obtaining a first rotation angle value of the gyroscope includes:
and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a first rotation angle value of the gyroscope.
In an embodiment, the obtaining a second rotation angle value of the gyroscope includes:
and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a second rotation angle value of the gyroscope.
In an embodiment, the method further comprises:
and if the rotation time length of the equipment to be calibrated driven by the turntable is detected to be longer than a second preset time length, the calibration detection is not passed.
In a second aspect, the present invention further provides a gyroscope calibration detection apparatus, including:
the first angle value acquisition module is used for acquiring a first rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate a first preset rotation angle value along a first rotation direction;
the second angle value acquisition module is used for acquiring a second rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate along a second rotation direction by a second preset rotation angle value; wherein the second rotational direction is opposite the first rotational direction;
a difference value judging module, configured to judge whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference value range;
and the detection judgment module is used for passing the calibration detection if the first difference value and the second difference value are both within the preset difference value range.
In a third aspect, the present invention further provides an electronic device, including:
the gyroscope is connected with the processor and used for detecting a rotation angle value of the electronic equipment and sending the rotation angle value to the processor; and
a gyroscope calibration detection program stored in said memory, said gyroscope calibration detection program when executed by said processor implementing the steps of said gyroscope calibration detection method as described above.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a gyroscope calibration detection program is stored, and the gyroscope calibration detection program, when executed by a processor, implements the gyroscope calibration detection method as described above.
The method for calibrating and detecting the gyroscope provided by the embodiment of the invention obtains a first rotation angle value of the gyroscope when the method detects that the turntable drives the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value; when it is detected that the turntable drives the equipment to be calibrated to rotate by a second preset rotation angle value along a second rotation direction, acquiring a second rotation angle value of the gyroscope; wherein the second rotational direction is opposite the first rotational direction; judging whether a first difference value between a first rotation angle value and the first preset rotation angle value and a second difference value between a second rotation angle value and the second preset rotation angle value are both within a preset difference range or not; and if the first difference value and the second difference value are both within the preset difference value range, the calibration detection is passed.
Therefore, in the calibration detection process, the first rotation angle value output by the gyroscope when the equipment to be calibrated is along the first rotation direction (positive rotation) and the second rotation angle value output by the gyroscope when the equipment to be calibrated is along the second rotation direction (negative rotation) are respectively detected, and the accumulated error when the gyroscope performs the preset detection action in one direction is eliminated through positive rotation and negative rotation, so that the calibration detection precision is improved.
Drawings
FIG. 1 is a schematic structural diagram of an electronic device according to the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of a method for calibrating and detecting a gyroscope according to the present invention;
FIG. 3 is a schematic diagram of a turntable involved in the method for detecting the calibration of a gyroscope according to the present invention;
fig. 4 is a schematic block diagram of the gyroscope calibration detection apparatus of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
At present, a calibration detection gyroscope basically uses professional detection equipment, and the professional detection equipment is high in cost and is not suitable for factories with low gyroscope production.
Therefore, the embodiment of the invention provides a method for calibrating and detecting a gyroscope, which comprises the steps of driving a device to be calibrated to rotate in the positive and negative directions by using a rotary table to obtain a preset rotation angle value, judging whether a first difference value and a second difference value between the rotation angle value read by the gyroscope in the positive and negative directions and the preset rotation angle value are both in a preset difference range, if so, calibrating and detecting the gyroscope to pass, otherwise, not passing, and accordingly eliminating accumulated errors when the gyroscope executes preset detection actions in one direction through positive and negative rotation so as to improve the precision of calibrating and detecting.
The inventive concept of the present invention will be further elucidated below in connection with some specific embodiments.
In the following, a schematic structural diagram of an electronic device to which the present invention is applied in implementing the technology will be described. It is understood that the electronic device may be a sweeper, a mobile phone, a tablet, or the like.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, and a reservation interface 1006. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a gyro calibration detection program.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be disposed in the electronic device, and the electronic device calls the gyro calibration detection program stored in the memory 1005 through the processor 1001 and executes the gyro calibration detection method provided in the embodiment of the present invention.
In the electronic device shown in fig. 1, the electronic device further includes a gyroscope 1007, and the gyroscope 1007 may be connected to the reservation interface 1006, and configured to detect a rotation angle value of the electronic device and send the rotation angle value to the processor 1001 through the reservation interface 1006.
In the following, a description will be given of a gyroscope calibration detection method applied to implementation of the present invention:
based on the above hardware and not limited to the above hardware structure, a first embodiment of the method for detecting calibration of a gyroscope of the present invention is proposed, and referring to fig. 2, fig. 2 shows a schematic flow chart of the first embodiment of the method for detecting calibration of a gyroscope of the present invention.
In this embodiment, the method for calibrating and detecting a gyroscope includes:
s100, when the fact that the turntable drives the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value is detected, obtaining a first rotation angle value of the gyroscope;
in a specific implementation, with reference to fig. 3, the device to be calibrated equipped with a gyroscope can be placed on a turntable with a dial 21. It is worth mentioning that after the device to be calibrated is placed on the turntable, the device to be calibrated and the turntable are kept relatively static, that is, the device to be calibrated moves together with the turntable. The turntable comprises a fixed part 20 and a rotating part 22, the fixed part 20 is horizontally and stably placed, and the fixed part 20 is provided with a dial gauge 21. The rotating part 22 is rotatably connected to the fixed part 20, and the rotation axis of the rotating part 22 vertically passes through the center of the dial ring 21. A pointer may be provided on the rotating portion 22 to obtain a relative positional relationship between the rotating portion 22 and the fixing portion 20 through the pointer.
It is understood that the gyroscope configured device may be a sweeper 30, a mobile robot, a mobile air conditioner, or the like. The following is a detailed description of the sweeper 30 for ease of understanding. It can be understood that the sweeper 30 obtains data such as a rotation angle value through the gyroscope, so that the sweeper does not yaw and can travel along a specified route.
When the gyroscope inside the sweeper 30 is subjected to calibration detection, the whole sweeper 30 is placed on the turntable. It can be understood that, at this time, the central axis of the sweeper 30 in the vertical direction passes through the center of the scale bezel 21, so that when the rotating portion 22 of the turntable rotates, the sweeper 30 only synchronously rotates around the central axis of the sweeper, and does not rotate eccentrically relative to the rotation center of the turntable, so as to avoid the influence of movements such as eccentric rotation of the sweeper on the calibration detection result of the gyroscope.
It will be appreciated that in particular, after initialization of the sweeper 30 is complete, the gyroscope may record the initial angle at that time. The turntable is started to drive the sweeper 30 to start rotating, the actual rotating angle value of the turntable can be read from the scale bezel 21 on the turntable, and meanwhile, the sweeper 30 can perform difference according to the current angle value, the initial angle value and the rotating direction obtained by detecting the gyroscope after the rotation is finished, so that the rotating angle value recorded by the gyroscope of the sweeper is obtained.
In one embodiment, the turntable may be rotated manually, that is, the calibration personnel manually rotates the rotating part of the turntable in the first rotating direction. And reading an initial angle by reading the scale pointed by the pointer of the rotating part before rotation, reading an end angle by reading the scale pointed by the pointer of the rotating part after rotation, wherein the difference between the end angle and the initial angle is a first preset rotating angle value. After the manual rotation is completed, a calibration worker can input a first preset angle and a first rotation direction into the sweeper through terminal equipment connected with the sweeper, so that the sweeper can obtain a first preset rotation angle value, which is driven by the rotary table to rotate along the first rotation direction, of the equipment to be calibrated.
Or, in another embodiment, the sweeper is provided with a calibration auxiliary device, and the calibration auxiliary device can detect an actual rotation angle of the turntable and send the actual rotation angle to the sweeper, so that the sweeper detects that the turntable drives the device to be calibrated to rotate by a first preset rotation angle value along a first rotation direction. It can be understood that the calibration auxiliary equipment can read the actual rotation angle of the rotary table by shooting the rotating picture of the rotary table in real time and recognizing the shot picture through images. The calibration auxiliary equipment can also be an encoder, a rotary transformer and a synchronous machine, so that the actual rotation angle of the rotary table is detected, and the details are not repeated here.
For example, the initial angle of the gyroscope is recorded to be 4 degrees after the initialization is completed, the turntable drives the sweeper to rotate 360 degrees clockwise, at the moment, the first current angle output by the gyroscope in the sweeper is 3 degrees, and the first rotation angle detected by the gyroscope can be determined to be 359 degrees according to the value of the first rotation direction, the initial angle and the first current angle.
S200, when it is detected that the turntable drives the equipment to be calibrated to rotate along a second rotation direction by a second preset rotation angle value, acquiring a second rotation angle value of the gyroscope; wherein the second rotational direction is opposite the first rotational direction;
specifically, after the turntable drives the device to be calibrated to rotate by a first preset rotation angle value in a first rotation direction, the turntable also drives the device to be calibrated to rotate by a second preset rotation angle value in a second opposite rotation direction.
For example, after the initialization of the gyroscope is completed, the initial angle is recorded to be 4 degrees, the turntable drives the sweeper to rotate 360 degrees clockwise, at this time, the first current angle output by the gyroscope in the sweeper is 3 degrees, and the first rotation angle value detected by the gyroscope can be determined to be 359 degrees according to the first rotation direction, the initial angle and the first current angle value. Then, the turntable drives the sweeper to rotate 360 degrees counterclockwise, at the moment, a second current angle output by a gyroscope in the sweeper is 1 degree, and therefore according to the second rotation direction, the first current angle and the second current angle, the second rotation angle value detected by the gyroscope can be determined to be 362 degrees.
Step S300, determining whether a first difference between the first rotation angle value and the first preset rotation angle value and a second difference between the second rotation angle value and the second preset rotation angle value are both within a preset difference range.
And S400, if the first difference value and the second difference value are both within the preset difference value range, the calibration detection is passed.
After the sweeper acquires the first rotation angle value and the second rotation angle value, the first rotation angle value is compared with the corresponding first preset rotation angle value, and the second rotation angle value is compared with the corresponding second preset rotation angle value, so that a first difference value between the actual rotation angle when the sweeper rotates along the first rotation direction and the read first rotation angle value and a second difference value between the actual rotation angle when the sweeper rotates along the second rotation direction and the read second rotation angle value are obtained.
If the turntable drives the sweeper to rotate 360 degrees clockwise, at the moment, the first rotation angle value output by the gyroscope in the sweeper is 359 degrees. Then, the turntable drives the sweeper to rotate 360 degrees counterclockwise, and at the moment, a second rotation angle value output by a gyroscope in the sweeper is 362 degrees. The sweeper can obtain a first difference value of 1 degree when the sweeper rotates forwards and a second difference value of 2 degrees when the sweeper rotates backwards. It will be appreciated that the difference here is taken as an absolute value.
The preset difference range is a range which is preset by calibration detection personnel according to the calibration detection requirement of the gyroscope. If the first difference value and the second difference value are both within a preset difference value range, the forward rotation and reverse rotation readings of the gyroscope are both within an error range, and calibration detection is passed.
For example, the preset difference range may be [0, 3 ]. The first difference value of the sweeper during positive rotation is 1 degree, the second difference value of the sweeper during reverse rotation is 2 degrees, and the first difference value and the second difference value are within a preset difference value range, so that calibration detection is passed.
It can be understood that if the gyroscope is unidirectionally rotated for many times, the rotation error is inevitably accumulated, so that the error is larger and larger, the influence of the preset calibration action on the calibration detection of the gyroscope is larger and larger, and the probability of the calibration detection failing to pass is increased.
In the embodiment, accumulated errors generated when the gyroscope executes the preset detection action in one direction are eliminated through positive and negative rotation, so that the calibration detection precision is improved.
In addition, in this embodiment, the reference jig used for calibration and detection is the rotary table, and compared with the existing method that a high-precision reference gyroscope is used for calibration, the method can also realize calibration and detection of the gyroscope without using professional detection equipment, and reduces the cost of calibration and detection of the gyroscope.
As an embodiment, after step S5400, the method further comprises:
step S500: if at least one of the first difference value and the second difference value is not in the preset difference value range, the calibration detection is not passed.
It is understood that, if any one of the first difference and the second difference is not within the preset difference range, the calibration detection is not passed.
For example, in an example, the first difference is 0 degrees, and the second difference is 3.2 degrees, that is, the first difference is within the preset difference range [0, 3], and the second difference is not within the preset difference range [0, 3], where it is determined that the gyroscope calibration detection fails.
In another example, the first difference is 4 degrees, the second difference is 2 degrees, that is, the second difference is within the preset difference range [0, 3], and the first difference is not within the preset difference range [0, 3], and it is determined that the gyroscope calibration detection fails.
In yet another example, if the first difference is 4 degrees and the second difference is 3.2 degrees, and neither the first difference nor the second difference is within the preset difference range [0, 3], the calibration detection fails.
In this embodiment, the detection result that the gyroscope was just reversing and is surveyed all judges whether satisfy the requirement to consider more comprehensively, avoid unidirectional rotation to satisfy the requirement and reverse rotation unsatisfactory gyroscope passes through the calibration detection, with the further degree of accuracy that improves calibration detection.
Based on the above embodiments, a second embodiment of the calibration detection method of the present invention is provided.
In this embodiment, before step S100, the method further includes:
step S80: judging whether the gyroscope completes initialization within a first preset time;
if the initialization is completed, step S100 is executed.
The first preset time is the initialization time when the gyroscope is calibrated and detected, and a user waits for the gyroscope.
Setting the initialization time of the gyroscope to be 20s before the gyroscope is calibrated and detected, namely setting the first preset time to be 20s, and if the gyroscope is initialized within 20s, performing subsequent calibration and detection steps.
If the first preset time is 20s, if the gyroscope completes initialization within 20s, the sweeper is provided with a prompting lamp, and the prompting lamp on the sweeper can be set to flash in a purple breathing lamp mode after the gyroscope completes initialization so as to prompt a user to start calibration detection of the gyroscope.
If the initialization is not completed, step S90 is executed, and the calibration detection is not passed.
If the first preset time is 20s, if the initialization of the gyroscope is not completed within 20s, the calibration detection is not passed, a prompting lamp on the sweeper can be set to flash a red lamp at the moment to prompt a user that the calibration detection is not passed, and the reason why the calibration detection is not passed needs to be checked and the calibration detection of the gyroscope needs to be carried out again.
In one example, the sweeper is powered on, after the calibration detection request is received through the user scanning code, the prompting lamp on the sweeper is turned on to prompt the user that the sweeper enters the gyroscope calibration detection mode, initialization of the gyroscope is waited, if the gyroscope completes initialization within a first preset time, the prompting lamp flashes in the form of a purple breathing lamp to prompt the user that initialization of the gyroscope is completed, the initial angle of the current gyroscope is obtained, and the initial angle is temporarily stored in the memory.
The method comprises the steps that a sweeper is powered on, a prompting lamp on the sweeper is turned on to wait for initialization of a gyroscope after a code scanning request of a user is received, and the prompting lamp flashes to a red light if the initialization of the gyroscope is not completed within a first preset time.
As an embodiment, step S100 may specifically include:
step S101: and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a first rotation angle value of the gyroscope.
Specifically, in practical operation, such as after a long time of use in the sweeper, the response of the gyroscope is slow or there is a delay, and the time for reading is long after the sweeper completely stops rotating. Therefore, an angular velocity change threshold can be set as a standard for reading the gyroscope, namely, a preset change threshold is used as a judgment standard.
The turntable drives the sweeper to rotate a first preset rotation angle value along a first rotation direction, in the process, the sweeper obtains a current angle value through the gyroscope to execute rotation of the first preset rotation angle value along the first rotation direction, when the turntable tends to stop, the angular speed change value of the gyroscope is continuously reduced, and when equipment to be calibrated, namely the current angular speed change value of the sweeper is smaller than a preset change threshold value, the sweeper obtains the current angle value of the gyroscope at the moment and obtains the first rotation angle value.
In this embodiment, if it is detected that the current angular velocity variation value of the device to be calibrated is smaller than the preset variation threshold, the first rotation angle value of the gyroscope is obtained, so that the effect that the delay of the gyroscope affects the calibration detection efficiency can be avoided.
In this embodiment, after step S200, the method further includes:
step S210: and if the rotation time length of the equipment to be calibrated driven by the turntable is detected to be longer than a second preset time length, the calibration detection is not passed.
Specifically, the turntable drives the device to be calibrated to rotate, if the turntable still drives the device to be calibrated to rotate after waiting for a certain time, the turntable is damaged, and the calibration detection step is terminated.
As an embodiment, step S200 may specifically include:
step S201: and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a second rotation angle value of the gyroscope.
Specifically, in practical operation, such as after a long time of use in the sweeper, the response of the gyroscope is slow or there is a delay, and the time for reading is long after the sweeper completely stops rotating. Therefore, an angular velocity change threshold can be set as a standard for reading the gyroscope, namely, a preset change threshold is used as a judgment standard.
The turntable drives the sweeper to rotate a second preset rotation angle value along a second rotation direction, in the process, the sweeper obtains a current angle value through the gyroscope to execute rotation of the second preset rotation angle value along the second rotation direction, when the turntable tends to stop, the angular speed change value of the gyroscope is continuously reduced, and when equipment to be calibrated, namely the current angular speed change value of the sweeper is smaller than a preset change threshold value, the sweeper obtains the current angle value of the gyroscope at the moment and obtains the second rotation angle value.
In this embodiment, if it is detected that the current angular velocity variation value of the device to be calibrated is smaller than the preset variation threshold, the second rotation angle value of the gyroscope is obtained, so that the effect that the delay of the gyroscope affects the calibration detection efficiency can be avoided.
In this embodiment, after step S200, the method further includes:
step S310: and if the rotation time length of the equipment to be calibrated driven by the turntable is detected to be longer than a second preset time length, the calibration detection is not passed.
Specifically, the turntable drives the to-be-calibrated device to rotate, if the to-be-calibrated device is driven to rotate by the turntable after waiting for a certain time, the turntable is damaged, and the calibration detection step is stopped to avoid the influence of the turntable on the calibration detection efficiency of the gyroscope.
Based on the same inventive concept, referring to fig. 4, the invention also shows a gyroscope calibration detection device, comprising:
the first angle value acquisition module is used for acquiring a first rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value;
the second angle value acquisition module is used for acquiring a second rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate a second preset rotation angle value along a second rotation direction; wherein the second rotational direction is opposite the first rotational direction;
a difference value judging module, configured to judge whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference value range;
and the detection judgment module is used for passing the calibration detection if the first difference value and the second difference value are both within the preset difference value range.
It should be noted that, for the embodiments of the gyroscope calibration detection apparatus in this embodiment and the technical effects achieved by the embodiments, reference may be made to various embodiments of the gyroscope calibration detection method in the foregoing embodiments, and details are not repeated here.
In addition, an embodiment of the present invention further provides a computer storage medium, where a gyroscope calibration detection program is stored on the storage medium, and the gyroscope calibration detection program, when executed by the processor, implements the steps of the gyroscope calibration detection method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present invention, reference is made to the description of the method embodiments of the present invention. It is determined that, by way of example, the program instructions may be deployed to be executed on one computing device or on multiple computing devices at one site or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
It should be noted that the above-described embodiments of the apparatus are merely schematic, where units illustrated as separate components may or may not be physically separate, and components illustrated as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that the present invention may be implemented by software plus necessary general hardware, and may also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, the implementation of a software program is a more preferable embodiment for the present invention. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method of the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The gyroscope calibration detection method is characterized by being used for equipment to be calibrated, wherein the equipment to be calibrated is arranged on a turntable and is provided with a gyroscope; the method comprises the following steps:
when the fact that the turntable drives the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value is detected, a first rotation angle value of the gyroscope is obtained;
when it is detected that the turntable drives the equipment to be calibrated to rotate by a second preset rotation angle value along a second rotation direction, acquiring a second rotation angle value of the gyroscope; wherein the second rotational direction is opposite the first rotational direction;
judging whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference range or not;
and if the first difference value and the second difference value are both within the preset difference value range, the calibration detection is passed.
2. The method of claim 1, wherein after determining whether a first difference between the first rotation angle value and the first predetermined rotation angle value and a second difference between the second rotation angle value and the second predetermined rotation angle value are both within a predetermined difference range, the method further comprises:
if at least one of the first difference value and the second difference value is not in the preset difference value range, the calibration detection is not passed.
3. The method for detecting calibration of a gyroscope according to claim 1, wherein before the step of obtaining the first rotation angle value of the gyroscope when it is detected that the turntable drives the device to be calibrated to rotate by the first preset rotation angle value in the first rotation direction, the method further comprises:
judging whether the gyroscope completes initialization within a first preset time;
and if the initialization is finished, acquiring a first rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate a first preset rotation angle value along a first rotation direction.
4. The method for detecting calibration of a gyroscope according to claim 3, wherein after determining whether the gyroscope has been initialized within a first predetermined time, the method further comprises:
if the initialization is not completed, the calibration detection is not passed.
5. The method for detecting calibration of a gyroscope according to claim 1, wherein the obtaining a first rotation angle value of the gyroscope includes:
and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a first rotation angle value of the gyroscope.
6. The method for detecting calibration of a gyroscope according to claim 1, wherein the obtaining a second rotation angle value of the gyroscope includes:
and if the current angular velocity change value of the equipment to be calibrated is smaller than a preset change threshold value, acquiring a second rotation angle value of the gyroscope.
7. The method of gyroscope calibration detection according to any one of claims 1 to 6, characterized in that the method further comprises:
and if the rotation time length of the equipment to be calibrated driven by the turntable is detected to be longer than a second preset time length, the calibration detection is not passed.
8. The gyroscope calibration detection device is characterized by being configured on equipment to be calibrated, wherein the equipment to be calibrated is arranged on a turntable and is provided with a gyroscope; the device comprises:
the first angle value acquisition module is used for acquiring a first rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate along a first rotation direction by a first preset rotation angle value;
the second angle value acquisition module is used for acquiring a second rotation angle value of the gyroscope when the turntable is detected to drive the equipment to be calibrated to rotate along a second rotation direction by a second preset rotation angle value; wherein the second rotational direction is opposite the first rotational direction;
a difference value judging module, configured to judge whether a first difference value between the first rotation angle value and the first preset rotation angle value and a second difference value between the second rotation angle value and the second preset rotation angle value are both within a preset difference value range;
and the detection judgment module is used for passing the calibration detection if the first difference value and the second difference value are both within the preset difference value range.
9. An electronic device, comprising:
the gyroscope is connected with the processor and used for detecting a rotation angle value of the electronic equipment and sending the rotation angle value to the processor; and
a gyroscope calibration detection program stored in the memory, the gyroscope calibration detection program when executed by the processor implementing the steps of the gyroscope calibration detection method as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a gyro calibration detection program, which when executed by a processor implements the gyro calibration detection method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210419159.1A CN114509093A (en) | 2022-04-21 | 2022-04-21 | Gyroscope calibration detection method, device and equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210419159.1A CN114509093A (en) | 2022-04-21 | 2022-04-21 | Gyroscope calibration detection method, device and equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114509093A true CN114509093A (en) | 2022-05-17 |
Family
ID=81554887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210419159.1A Pending CN114509093A (en) | 2022-04-21 | 2022-04-21 | Gyroscope calibration detection method, device and equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114509093A (en) |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1955639A (en) * | 2005-10-24 | 2007-05-02 | 何铁 | Calibration method for vehicle speed measuring instrument |
| CN101509785A (en) * | 2009-03-16 | 2009-08-19 | 浙江大学 | Misalignment evaluating method for optical fibre gyro input axis |
| CN103152477A (en) * | 2013-01-31 | 2013-06-12 | 深圳市金立通信设备有限公司 | Handling method of call missing and terminal |
| CN104079836A (en) * | 2014-07-04 | 2014-10-01 | 广东欧珀移动通信有限公司 | Photographing method and device based on mobile terminal |
| CN104101363A (en) * | 2014-07-28 | 2014-10-15 | 中国电子科技集团公司第二十六研究所 | Gyroscope dynamic calibration method for measuring rotary carrier transversal posture |
| CN204177398U (en) * | 2014-09-30 | 2015-02-25 | 凯迈（洛阳）测控有限公司 | Gyroscope proving installation |
| CN104634365A (en) * | 2015-01-30 | 2015-05-20 | 王亚斌 | Method and apparatus for calibrating gyroscope in wireless mouse |
| CN104931069A (en) * | 2014-03-19 | 2015-09-23 | 日本电气株式会社 | Method, apparatus and system for calibrating gyroscope |
| CN105651309A (en) * | 2015-12-29 | 2016-06-08 | 北京贞正物联网技术有限公司 | Automatic inertial navigation system calibration method, and apparatus and system thereof |
| CN107741238A (en) * | 2017-09-25 | 2018-02-27 | 中国航空工业集团公司西安飞机设计研究所 | A kind of angular rate gyroscope test device |
| CN109000680A (en) * | 2018-05-31 | 2018-12-14 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Gyroscope acceleration sensitive error coefficient acquisition methods, device and system |
| CN109186635A (en) * | 2018-08-30 | 2019-01-11 | 上海仙知机器人科技有限公司 | The zero point correction method and system of three-axis gyroscope |
| CN208432273U (en) * | 2018-05-30 | 2019-01-25 | 深圳市大疆创新科技有限公司 | Test equipment |
| CN109631947A (en) * | 2018-12-28 | 2019-04-16 | Tcl移动通信科技（宁波）有限公司 | A kind of rotation modification method, storage medium and the mobile terminal of mobile terminal |
| CN209541769U (en) * | 2018-12-21 | 2019-10-25 | 深圳市恒讯驰技术有限公司 | A kind of Gyro Test System and device |
| CN113063442A (en) * | 2021-03-17 | 2021-07-02 | 深圳市云鼠科技开发有限公司 | Floor sweeping robot gyroscope calibration method and device, computer equipment and memory |
| CN113064571A (en) * | 2021-05-06 | 2021-07-02 | 恒玄科技(上海)股份有限公司 | Display screen control method, wearable device and storage medium |
-
2022
- 2022-04-21 CN CN202210419159.1A patent/CN114509093A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1955639A (en) * | 2005-10-24 | 2007-05-02 | 何铁 | Calibration method for vehicle speed measuring instrument |
| CN101509785A (en) * | 2009-03-16 | 2009-08-19 | 浙江大学 | Misalignment evaluating method for optical fibre gyro input axis |
| CN103152477A (en) * | 2013-01-31 | 2013-06-12 | 深圳市金立通信设备有限公司 | Handling method of call missing and terminal |
| CN104931069A (en) * | 2014-03-19 | 2015-09-23 | 日本电气株式会社 | Method, apparatus and system for calibrating gyroscope |
| CN104079836A (en) * | 2014-07-04 | 2014-10-01 | 广东欧珀移动通信有限公司 | Photographing method and device based on mobile terminal |
| CN104101363A (en) * | 2014-07-28 | 2014-10-15 | 中国电子科技集团公司第二十六研究所 | Gyroscope dynamic calibration method for measuring rotary carrier transversal posture |
| CN204177398U (en) * | 2014-09-30 | 2015-02-25 | 凯迈（洛阳）测控有限公司 | Gyroscope proving installation |
| CN104634365A (en) * | 2015-01-30 | 2015-05-20 | 王亚斌 | Method and apparatus for calibrating gyroscope in wireless mouse |
| CN105651309A (en) * | 2015-12-29 | 2016-06-08 | 北京贞正物联网技术有限公司 | Automatic inertial navigation system calibration method, and apparatus and system thereof |
| CN107741238A (en) * | 2017-09-25 | 2018-02-27 | 中国航空工业集团公司西安飞机设计研究所 | A kind of angular rate gyroscope test device |
| CN208432273U (en) * | 2018-05-30 | 2019-01-25 | 深圳市大疆创新科技有限公司 | Test equipment |
| CN109000680A (en) * | 2018-05-31 | 2018-12-14 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Gyroscope acceleration sensitive error coefficient acquisition methods, device and system |
| CN109186635A (en) * | 2018-08-30 | 2019-01-11 | 上海仙知机器人科技有限公司 | The zero point correction method and system of three-axis gyroscope |
| CN209541769U (en) * | 2018-12-21 | 2019-10-25 | 深圳市恒讯驰技术有限公司 | A kind of Gyro Test System and device |
| CN109631947A (en) * | 2018-12-28 | 2019-04-16 | Tcl移动通信科技（宁波）有限公司 | A kind of rotation modification method, storage medium and the mobile terminal of mobile terminal |
| CN113063442A (en) * | 2021-03-17 | 2021-07-02 | 深圳市云鼠科技开发有限公司 | Floor sweeping robot gyroscope calibration method and device, computer equipment and memory |
| CN113064571A (en) * | 2021-05-06 | 2021-07-02 | 恒玄科技(上海)股份有限公司 | Display screen control method, wearable device and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111123280B (en) | Laser radar positioning method, device and system, electronic equipment and storage medium | |
| CN107976194B (en) | Environment map adjusting method and device | |
| CN106569512A (en) | Holder calibration method | |
| WO2015113330A1 (en) | Autonomous navigation system using an image information code to provide correction information | |
| CN112135124A (en) | Method, device and system for calibrating and detecting position of holder | |
| CN1637675A (en) | Method and apparatus for using rotational movement amount of mobile device and computer-readable recording medium for storing computer program | |
| CN112752952A (en) | Calibration method of inertial measurement system, inertial measurement system and movable platform | |
| CN109118537A (en) | A kind of picture matching process, device, equipment and storage medium | |
| CN112684478A (en) | Parameter calibration method and device based on double antennas, storage medium and electronic equipment | |
| CN113063442B (en) | Method and device for calibrating gyroscope of sweeping robot, computer equipment and memory | |
| CN109677508B (en) | Vehicle motion data acquisition method, device, equipment and storage medium | |
| CN109031205B (en) | Robot positioning device, method and robot | |
| CN114509093A (en) | Gyroscope calibration detection method, device and equipment and storage medium | |
| CN117686012A (en) | Encoder calibration method, device, system, equipment and storage medium | |
| CN111383332B (en) | Three-dimensional scanning and reconstruction system, computer device and readable storage medium | |
| CN111627021B (en) | Terminal middle frame appearance detection method, system and controller | |
| CN111693043B (en) | Map data processing method and apparatus | |
| CN104296656B (en) | Device, apparatus and method for positioning measurement reference plane of measured object | |
| JPH10332347A (en) | Three dimensional measuring method and its device | |
| CN113970312B (en) | Angle detection method, angle detection device, computer program product and storage medium | |
| JPH10307920A (en) | Positional deviation detection device, image check device and machine readable recording medium recording positional deviation detection program | |
| CN211452362U (en) | Control device for attitude measurement device | |
| CN117058005B (en) | Crystal grain image reconstruction method and device of wafer, electronic equipment and storage medium | |
| JPH1163953A (en) | Image measuring device and its image displaying method | |
| CN118604805A (en) | Paint film detection method, device, electronic apparatus, storage medium, and program product for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220517 |
|
| RJ01 | Rejection of invention patent application after publication |