CN116430946A - Rocker sensor calibration method, rocker sensor calibration system, medium and electronic equipment - Google Patents
Rocker sensor calibration method, rocker sensor calibration system, medium and electronic equipment Download PDFInfo
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Abstract
The invention provides a rocker sensor calibration method, a rocker sensor calibration system, a rocker sensor calibration medium and electronic equipment, and belongs to the technical field of general control or regulation systems. An initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer; when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining a calibrated rocker current offset angle according to a maximum offset detection value of the rocker under the current rotation angle, a projection coordinate of a rocker vertex in an XY plane coordinate system and a maximum offset angle assumed by the rocker; the invention realizes the calibration of the rocker motion extremum, obtains the current offset angle of the calibrated rocker, and further realizes more accurate rocker control.
Description
Technical Field
The invention relates to the technical field of general control or regulation systems, in particular to a rocker sensor calibration method, a rocker sensor calibration system, a rocker sensor calibration medium and electronic equipment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Minimally invasive medical instruments are generally divided into two categories: one is purely mechanical transmission, and simple action instructions are transmitted to the execution instrument at the tail end through mechanical transmission, so that the function is single; the other is electrically controlled, the input device signals the control system, and the control system drives the tail end executing instrument to act through the motor driving transmission mechanism, so that the real surgical robot is formed, and the complex action can be executed. For the surgical robot, when the surgical action is executed, the input device sends a signal to the controller, the controller sends a control instruction to the motor, the motor drives the tail end instrument through the transmission mechanism, and the tail end instrument executes the action.
The whole process needs extremely high-precision motion control, millimeter-level control is usually required on the instrument end, micro-level control is even required on the surgical robot in some special fields, precise instrument control is required to be realized, precise signal input equipment is required, a surgical operation structure which is to be manually operated is proposed for improving the operation comfort level of medical staff, and a rocker sensor (also called 3D rocker potentiometer) can utilize the strength of a wrist part in cooperation with mechanical structure design, so that the application is more and more wide.
The rocker sensor generally outputs two paths of analog voltages after a power supply and ground are given, the positions of the rockers on the XY axis are indicated, and the angles of the rockers can be further calculated through a trigonometric function. The ideal state of rocker output has two criteria: firstly, the output extremum is the same when the device moves in all directions, such as up, down, left and right; and secondly, the rocker is moved in a certain direction, and the output signal and the angle of the rocker are linear. In general, the extreme values of movement of the rocker in all directions are required to be the same, the default is that the central point of the rocker is taken as the original point in design, the physical angles which can move in all directions are consistent, and the range of input data can be defined through the same extreme values of movement.
However, the inventor finds that the maximum moving distance of each practical direction is different due to different technological levels and the error of the external machine, namely the extreme value of the rocker in each direction is different, and the control precision of the rocker is further affected.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a rocker sensor calibration method, a system, a medium and electronic equipment, which realize the calibration of a rocker motion extremum, obtain the calibrated rocker current offset angle and further realize more accurate rocker control.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a rocker sensor calibration method.
A rocker sensor calibration method comprises the following steps:
an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
As an optional implementation manner, according to the ratio of the maximum value offset detection value corresponding to any rotation angle to the maximum value offset detection value corresponding to the rotation angle where the rocker is currently located, a calibration coefficient corresponding to the rotation angle where the rocker is currently located is obtained, and according to the calibration coefficient, the current offset angle of the rocker before calibration is combined, and the current offset angle of the rocker after calibration is obtained.
As an optional implementation manner, the calibrated current offset angle of the rocker is:
wherein θ is the maximum offset angle assumed by the rocker, angle [ alpha ]]For the maximum offset detection value under the rotation angle alpha, x is the projection x of the rocker vertex on the XY plane coordinate systemAnd the axis coordinate is the projection y-axis coordinate of the rocker vertex in the XY plane coordinate system.
As an optional implementation manner, obtaining a maximum value offset detection value corresponding to each angle includes:
the rocker moves to the limit position of each direction, rotates for a plurality of circles at the limit position, and each rotation angle takes the average value of detection values of all circles as the final maximum value offset detection value.
As an alternative implementation, the rocker assumes a maximum offset angle θ in the range of 0 ° < θ < 90 °.
As an alternative implementation, N is 360, with a difference of 1 ° between adjacent angles.
A second aspect of the invention provides a rocker sensor calibration system.
A rocker sensor calibration system, comprising:
a maximum offset detection value acquisition module configured to: an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
the rocker current offset angle calibration value acquisition module is configured to: when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
As an optional implementation manner, the calibrated current offset angle of the rocker is:
wherein θ is the maximum offset angle assumed by the rocker, angle [ alpha ]]At a rotation angle alphaAnd x is the projection x-axis coordinate of the rocker vertex in the XY plane coordinate system, and y is the projection y-axis coordinate of the rocker vertex in the XY plane coordinate system.
A third aspect of the present invention provides a computer readable storage medium having stored thereon a program which when executed by a processor performs the steps of the rocker sensor calibration method according to the first aspect of the present invention.
A fourth aspect of the present invention provides an electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, the processor implementing the steps in the method for calibrating a rocker sensor according to the first aspect of the present invention when the program is executed by the processor.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the rocker sensor calibration method, the system, the medium and the electronic equipment, the calibrated rocker current offset angle is obtained according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex on the XY plane coordinate system and the assumed maximum offset angle of the rocker, and more accurate rocker control is realized.
2. According to the rocker sensor calibration method, system, medium and electronic equipment, the calibration coefficient corresponding to the current rotation angle of the rocker is obtained according to the ratio of the maximum value offset detection value corresponding to any rotation angle to the maximum value offset detection value corresponding to the current rotation angle of the rocker, and the calibrated rocker current offset angle is obtained according to the calibration coefficient (intermediate variable) in combination with the rocker current offset angle before calibration, so that the calibration strategy is simple and efficient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic structural diagram of a rocker sensor according to embodiment 1 of the present invention.
Fig. 2 is a front view of a rocker sensor according to embodiment 1 of the present invention.
Fig. 3 is a top view of a rocker sensor according to embodiment 1 of the present invention.
Fig. 4 shows the ideal range of motion of the rocker provided in embodiment 1 of the present invention.
Fig. 5 is a schematic diagram of rocker parameter setting according to embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
the embodiment 1 of the invention provides a rocker sensor calibration method, which comprises the following steps:
an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
The rocker sensor, which is also commonly called as a 3D rocker potentiometer, has four paths of signals, wherein two paths are respectively power supply and ground, and the other two paths are two paths of analog signal output of the sensor based on X, Y axes.
As shown in fig. 1, reference numeral 1 denotes a rocker which can swing in various directions; reference numeral 2 is a base of the rocker, which is fixed; under the base is an output pin X, Y from which two analog signals are output, and an XY plane coordinate system is constructed by the upper surface of the base or by a plane parallel to the upper surface of the base; the plane where the XY plane coordinate system is located is perpendicular to the axis of the rocker when the rocker is located in the original position.
The rocker of the rocker sensor has a force returning to the middle point, the movable angles of the rocker in all directions are basically the same, and the movement of the rocker in different directions can be realized, as shown in fig. 2.
The output of the X, Y two signals is based on the voltage of the current position, as shown in fig. 3, the movable edge of the rocker is the extreme value of the output voltage, the range of the movement from the middle point to a certain side is generally about 30 degrees, and different products can be distinguished.
FIG. 4 shows the simulated motion range of the rocker in an ideal state, the points in the circle and the circle are different points where the rocker is located, the X-axis and Y-axis output response coordinates are based on the positions of the points, and the origin O represents the initial center point of the rocker.
Fig. 4 is an ideal state, and the actual rocker motion range may not be circular in practice, because the process level is limited, and the error of the external machine is added, so that the actual moving distances in all directions are not identical, and therefore, extreme values are different, that is, fig. 4 is an irregular shape in practice, and calibration is required.
Specifically, the method comprises the following steps:
s1: parameter definition
The rocker sensor defaults to X and Y analog output, the analog signal is related to the magnitude of the power supply value, the power supply is generally 0-3.3V or 0-5V, an angle value beta and a direction value alpha are defined, and the angle value beta and the direction value alpha are shown in fig. 5.
The origin O is a default return point of the rocker, and the sitting mark is (0, 0); b represents the vertex of the rocker, and the position of B is expressed by (x, y); OB represents the offset of the rocker and the center point, in this embodiment, M is expressed by lower case, and the maximum value of the offset is assumed to be M, that is, M is less than or equal to M, the offset M multiplied by an angle coefficient k represents the offset angle beta of the rocker, the geometric meaning of the offset angle beta is what the physical offset angle represented by the offset M is, and k is a constant value; when m=m, there is m×k=30°,30 ° being the assumed maximum offset angle, i.e. k=30/M; the angle between OB and X axis is α to indicate the direction of the rocker.
It will be appreciated that the assumed maximum offset angle θ may be replaced by other angles, such as 45 degrees, 50 degrees, 80 degrees, etc., and those skilled in the art may choose from the range of 0 ° < θ < 90 ° and will not be described here.
Suppose the coordinates of point B are: (x, y);
then: k=30/M,
β＝k*m，α＝arctan(y/x)。
it should be noted that the direction value α may be positive or negative, or may be zero, and the positive or negative direction value α and the zero determination may be performed according to the coordinates (x, y) of the point B in combination with the x axis, which is not described herein.
S2: detecting extremum of rocker sensor
If β of the rocker sensor is required to be in accordance with the calculation result, k is required to be a constant value, that is, M is a constant value, so that the maximum extremum in different directions is calculated in the embodiment;
according to the formula, when M is equal to M, there are:
when the rocker moves to the limit position, namely m=m, if M in different directions is the same, the extremum of the rocker sensor is the same, and calibration is not needed; if different, calibration is required.
The specific extremum detection method comprises the following steps:
the rocker moves to the limit position of each direction, the rocker rotates for a plurality of circles at the limit position, the values of the directions alpha and M are recorded, whether M is equal under different alpha is judged, and if not, correction is needed.
In view of the feasibility, the present embodiment divides the circle of the entire movement range into 360 parts, that is, 360 directions, that is, the direction value α is divided into 360 parts (including 360 rotation angles, the angle difference between the adjacent rotation angles is 1 °, each rotation angle is set with respect to the positive direction of the X axis), the present embodiment defines a flow array angle with a size of 360, and when α is equal to 1, M1, angle [1] =m1 is calculated; when α is equal to 2, M2, angle [2] =m2 is calculated; and so on until M360 is calculated, angle [360] =m360.
It will be appreciated that in other embodiments, the circle may be divided into N, where N may be any value, such as 180, 720 or other angles, and those skilled in the art may select according to specific conditions, which will not be described herein.
Preferably, when detecting, alpha is allowed to have an error of plus or minus 0.2, the data is updated by rotating for a plurality of circles, and the average value of the plurality of circles is taken as the extreme value M of the final rocker in all directions.
S3: extreme value calibration
Based on the actual extremum detected, the sensor needs to be calibrated because the extremum of the external connection is typically different in different directions due to the presence of the external connection.
Principle of calibration: taking the middle point (or called center point) of the rocker as the center of a circle, wherein the extremum represents the radius of the circle, and the extremum in some directions is not equal to the radius value, and multiplying the extremum by a coefficient to make the extremum in different directions equal to the radius of the circle, thereby completing the calibration.
Specifically, according to the angle array obtained, each element of the angle array is a limiting angle offset M in different directions, in order to make the extremum in different directions equal (i.e. any α, angle [ α ] equal), a coefficient array nα, nα=mt is defined, where MT may be an M value in any direction (where the value of T is any positive integer in the range of 1-360), then:
N[α]＝M0/angle[α]。
the current offset angle of the calibrated rocker is as follows:
wherein angle [ alpha ] is the extreme value detected under the angle of alpha rotation, and is a fixed value.
Example 2:
a maximum offset detection value acquisition module configured to: an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
the rocker current offset angle calibration value acquisition module is configured to: when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
The working method of the system comprises the following steps:
t1: parameter definition
The rocker sensor defaults to X and Y paths of analog quantity output, the analog quantity signal is related to the magnitude of a power supply value, and the power supply is generally 0-3.3V or 0-5V; an angle value beta and a direction value alpha are defined as shown in fig. 5.
The origin O is a default return point of the rocker, and the sitting mark is (0, 0); b represents the vertex of the rocker, and the position of B is expressed by (x, y); OB represents the offset of the rocker and the center point, in this embodiment, M is expressed by lower case, and the maximum value of the offset is assumed to be M, that is, M is less than or equal to M, the offset M multiplied by an angle coefficient k represents the offset angle beta of the rocker, the geometric meaning of the offset angle beta is what the physical offset angle represented by the offset M is, and k is a constant value; when m=m, there is m×k=30°,30 ° being the assumed maximum offset angle, i.e. k=30/M; the angle between OB and X axis is α to indicate the direction of the rocker.
It will be appreciated that the assumed maximum offset angle θ may be replaced by other angles, such as 45 degrees, 50 degrees, 80 degrees, etc., and those skilled in the art may choose from the range of 0 ° < θ < 90 ° and will not be described here.
Suppose the coordinates of point B are: (x, y);
then: k=30/M,
β＝k*m，α＝arctan(y/x)。
it should be noted that the direction value α may be positive or negative, or may be zero, and the positive or negative direction value α and the zero determination may be performed according to the coordinates (x, y) of the point B in combination with the x axis, which is not described herein.
T2: detecting extremum of rocker sensor
If β of the rocker sensor is required to be in accordance with the calculation result, k is required to be a constant value, that is, M is a constant value, so that the maximum extremum in different directions is calculated in the embodiment;
according to the formula, when M is equal to M, there are:
when the rocker moves to the limit position, namely m=m, if M in different directions is the same, the extremum of the rocker sensor is the same, and calibration is not needed; if different, calibration is required.
The specific extremum detection method comprises the following steps:
the rocker moves to the limit position of each direction, the rocker rotates for a plurality of circles at the limit position, the values of the directions alpha and M are recorded, whether M is equal under different alpha is judged, and if not, correction is needed.
In view of the feasibility, the present embodiment divides the circle of the entire movement range into 360 parts, that is, 360 directions, that is, the direction value α is divided into 360 parts (including 360 rotation angles, the angle difference between the adjacent rotation angles is 1 °, each rotation angle is set with respect to the positive direction of the X axis), the present embodiment defines a flow array angle with a size of 360, and when α is equal to 1, M1, angle [1] =m1 is calculated; when α is equal to 2, M2, angle [2] =m2 is calculated; and so on until M360 is calculated, angle [360] =m360.
It will be appreciated that in other embodiments, the circle may be divided into N, where N may be any value, such as 180, 720 or other angles, and those skilled in the art may select according to specific conditions, which will not be described herein.
Preferably, when detecting, alpha is allowed to have an error of plus or minus 0.2, the data is updated by rotating for a plurality of circles, and the average value of the plurality of circles is taken as the extreme value M of the final rocker in all directions.
T3: extreme value calibration
Based on the actual extremum detected, the sensor needs to be calibrated because the extremum of the external connection is typically different in different directions due to the presence of the external connection.
Principle of calibration: taking the middle point (or called center point) of the rocker as the center of a circle, wherein the extremum represents the radius of the circle, and the extremum in some directions is not equal to the radius value, and multiplying the extremum by a coefficient to make the extremum in different directions equal to the radius of the circle, thereby completing the calibration.
Specifically, according to the angle array obtained, each element of the angle array is a limiting angle offset M in different directions, in order to make the extremum in different directions equal (i.e. any α, angle [ α ] equal), a coefficient array nα, nα=mt is defined, where MT may be an M value in any direction (where the value of T is any positive integer in the range of 1-360), then:
N[α]＝M0/angle[α]。
the current offset angle of the calibrated rocker is as follows:
wherein angle [ alpha ] is the extreme value detected under the angle of alpha rotation, and is a fixed value.
Example 3:
embodiment 3 of the present invention provides a computer readable storage medium having a program stored thereon, which when executed by a processor, implements the steps in the rocker sensor calibration method according to embodiment 1 of the present invention.
Example 4:
an embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and capable of running on the processor, where the processor implements the steps in the calibration method of the rocker sensor according to embodiment 1 of the present invention when executing the program.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps 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 (Random Access Memory, RAM), or the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A rocker sensor calibration method is characterized in that:
the method comprises the following steps:
an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
2. The rocker sensor calibration method of claim 1, wherein:
and obtaining a calibration coefficient corresponding to the current rotation angle of the rocker according to the ratio of the maximum value offset detection value corresponding to any rotation angle to the maximum value offset detection value corresponding to the current rotation angle of the rocker, and obtaining the calibrated current offset angle of the rocker according to the calibration coefficient combined with the calibrated current offset angle of the rocker.
3. The rocker sensor calibration method according to claim 1 or 2, characterized in that:
the current offset angle of the calibrated rocker is as follows:
wherein θ is the maximum offset angle assumed by the rocker, angle [ alpha ]]For the maximum offset detection value under the rotation angle alpha, x is the projection x-axis coordinate of the rocker vertex in the XY plane coordinate system, and y is the projection y-axis coordinate of the rocker vertex in the XY plane coordinate system.
4. The rocker sensor calibration method of claim 1, wherein:
obtaining a maximum value offset detection value corresponding to each angle, including:
the rocker moves to the limit position of each direction, rotates for a plurality of circles at the limit position, and each rotation angle takes the average value of detection values of all circles as the final maximum value offset detection value.
5. The rocker sensor calibration method of claim 1, wherein:
the rocker assumes a maximum offset angle θ in the range 0 ° < θ < 90 °.
6. The rocker sensor calibration method of claim 1, wherein:
n is 360 and the adjacent angles differ by 1 °.
7. A rocker sensor calibration system is characterized in that:
comprising the following steps:
a maximum offset detection value acquisition module configured to: an initial center point of a rocker is taken as a primary center, an XY plane coordinate system is constructed by a bearing plane of the rocker, a circular motion range of the rocker on the XY plane coordinate system is divided into N rotation angles relative to an X axis, and a maximum value offset detection value corresponding to each rotation angle is obtained, wherein N is a positive integer;
the rocker current offset angle calibration value acquisition module is configured to: when the maximum value offset detection value corresponding to each rotation angle is the same, no calibration is carried out; otherwise, obtaining the calibrated rocker current offset angle according to the maximum offset detection value of the rocker under the current rotation angle, the projection coordinate of the rocker vertex in the XY plane coordinate system and the maximum offset angle assumed by the rocker.
8. The rocker sensor calibration system of claim 7 wherein:
the current offset angle of the calibrated rocker is as follows:
wherein θ is the maximum offset angle assumed by the rocker, angle [ alpha ]]For the maximum offset detection value under the rotation angle alpha, x is the projection x-axis coordinate of the rocker vertex in the XY plane coordinate system, and y is the projection y-axis coordinate of the rocker vertex in the XY plane coordinate system.
9. A computer readable storage medium, on which a program is stored, characterized in that the program, when being executed by a processor, implements the steps of the rocker sensor calibration method as claimed in any one of claims 1-6.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor performs the steps in the rocker sensor calibration method of any one of claims 1-6 when the program is executed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230481.4A CN116430946B (en) | 2023-03-06 | 2023-03-06 | Rocker sensor calibration method, rocker sensor calibration system, medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102161306B1 (en) * | 2019-09-17 | 2020-10-05 | 주식회사 영국전자 | Pan Angle Calibration Method in Image of Mobile PTZ Camera |
| WO2021056359A1 (en) * | 2019-09-26 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Rocker calibration method, remote control terminal, and computer-readable storage medium |
| CN114286085A (en) * | 2021-12-28 | 2022-04-05 | 昆山丘钛微电子科技股份有限公司 | Optical anti-shake detection method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102161306B1 (en) * | 2019-09-17 | 2020-10-05 | 주식회사 영국전자 | Pan Angle Calibration Method in Image of Mobile PTZ Camera |
| WO2021056359A1 (en) * | 2019-09-26 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Rocker calibration method, remote control terminal, and computer-readable storage medium |
| CN114286085A (en) * | 2021-12-28 | 2022-04-05 | 昆山丘钛微电子科技股份有限公司 | Optical anti-shake detection method and device |
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