CN114136263B - Method and system for automatically, continuously and uniformly calibrating curvature of bending sensor - Google Patents
Method and system for automatically, continuously and uniformly calibrating curvature of bending sensor Download PDFInfo
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- CN114136263B CN114136263B CN202111271949.1A CN202111271949A CN114136263B CN 114136263 B CN114136263 B CN 114136263B CN 202111271949 A CN202111271949 A CN 202111271949A CN 114136263 B CN114136263 B CN 114136263B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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Abstract
The invention provides a method for automatically, continuously and uniformly calibrating curvature of a bending sensor, which comprises the following steps: s1, clamping one end of a linear soft body to fix the linear soft body at a set position, wherein one side of the linear soft body is provided with a plurality of cavities, the other side of the linear soft body is provided with a bending sensor to be calibrated, and the cavities are arranged at intervals along the length direction of the linear soft body and are communicated with one another; s2, inflating the linear software to bend the linear software and drive the bending sensor to bend, measuring the position change of the linear software through the distance measuring sensor, and outputting a corresponding electric signal by the bending sensor; s3, calculating a curvature calculation value of the bending of the linear soft body according to the position change of the linear soft body; and S4, calibrating the electric signal output by the bending sensor according to the curvature calculation value. The invention has the beneficial effects that: the curvature of the linear soft body is uniformly changed as a bending model, so that the bending curvature of the linear soft body can be continuously sampled, the continuous calibration of the bending sensor is further realized, the calibration precision is improved, and the curvature calibration range is expanded.
Description
Technical Field
The invention relates to the technical field of calibration of bending sensors, in particular to a method and a system for automatically, continuously and uniformly calibrating curvature of a bending sensor.
Background
The bending sensor is a common sensor in the field of curvature measurement, and is widely applied to various fields such as intelligent robots, wearable equipment, rehabilitation medical detection and the like due to the advantages of high sensitivity, small size, easiness in integration and the like. The output result of the bending sensor is usually output in the form of an electric signal, and the user calculates the actual curvature value through the electric signal output by the bending sensor. That is, the bending sensor cannot directly output a curvature value, and conversion of the correspondence between the electrical signal and the curvature value is required. Therefore, the curvature of the bending sensor needs to be calibrated to obtain an accurate and reliable curvature value.
However, currently, there is a lack of effective calibration methods when using bending sensors. The accuracy and range of use of the bending sensor is greatly limited.
For example, the Chinese patent application with the application number of 201510716582.8 discloses a wireless data glove based on a bending sensor, which is calibrated once every 10 degrees through comparison of a protractor and then calibrated points are connected in a two-dimensional coordinate system; however, when the angle calibration is performed, the sampling data is too discrete, only data of a few points can be obtained, and obvious human errors exist in the protractor comparison method.
The Chinese invention patent application with the application number of 201711063300.4 discloses a food consumption control system based on a Flex wireless sensor, the relationship between the reading number of an electric signal of the sensor and an angle is approximate to a linear function, and an approximately accurate proportional system K can be obtained through limited calibration; however, this calibration method is too limited. On one hand, due to comprehensive reasons (such as cost, required size, power consumption, service life and the like) when the bending sensor with the type cannot be adopted in actual use, namely, the relationship between the reading of the electric signal of the used sensor and the angle cannot be approximate to a linear function, so that the method has no universality; on the other hand, the relationship between the electrical signal and the angle is not an accurate linear function, and the calibration method still has a large error in the occasion with high requirement on precision.
Meanwhile, most of the existing manual calibration methods only calibrate the local curvature of the bending sensor, but actually, in order to obtain more accurate data, the bending sensor needs to be calibrated after being bent uniformly, but the existing calibration methods are difficult to achieve.
Disclosure of Invention
In view of this, in order to solve the problem of curvature calibration of the bending sensor, embodiments of the present invention provide a method and a system for automatically, continuously, and uniformly calibrating curvature of the bending sensor.
The embodiment of the invention provides a method for automatically, continuously and uniformly calibrating curvature of a bending sensor, which comprises the following steps:
s1, clamping one end of a linear software to fix the linear software at a set position, wherein one side of the linear software is provided with a plurality of cavities, the other side of the linear software is provided with a bending sensor to be calibrated, and the cavities are arranged at intervals along the length direction of the linear software and are communicated with each other;
s2, inflating the linear soft body to bend the linear soft body and drive the bending sensor to bend, measuring the position change of the linear soft body through a distance measuring sensor, and outputting a corresponding electric signal by the bending sensor;
s3, calculating a curvature calculation value of the bending of the linear soft body according to the position change of the linear soft body;
and S4, calibrating the electric signal output by the bending sensor according to the curvature calculation value.
Further, in the step S2, the distance measuring sensor measures a position change in the bending process of the linear soft body at a set frequency, and the bending sensor outputs an electrical signal corresponding to each linear soft body change;
in the step S3, a corresponding curvature calculation value is calculated according to the position change of the linear software each time;
in the step S4, the corresponding electrical signal output by the bending sensor is calibrated according to the curvature calculation value of each position change of the linear soft body.
Further, the cross-sectional shape of the cavity is U-shaped or semicircular.
Furthermore, one side of the linear soft body is provided with a groove so that the bending sensor is embedded and installed.
Further, in the step S1, the linear soft body is vertically disposed and the upper end thereof is clamped.
Further, the ranging sensor is arranged in parallel with the linear soft body.
Furthermore, the ranging sensor is fixed at a set position, and the position change of the linear software is obtained by measuring the horizontal distance change from the ranging sensor to the linear software.
Further, in the step S2, the inflation pressure is controlled by an electromagnetic proportional pressure regulating valve during the inflation process of the linear software, so as to control the bending speed of the linear software.
In addition, based on the method for automatically, continuously and uniformly calibrating curvature of the bending sensor, the embodiment of the invention also provides a system for automatically, continuously and uniformly calibrating curvature of the bending sensor, which comprises the following steps:
one end of the linear soft body is clamped and fixed at a set position, one side of the linear soft body is provided with a plurality of cavities, the other side of the linear soft body is provided with a bending sensor to be calibrated, and the cavities are arranged at intervals along the length direction of the linear soft body and are communicated with each other;
the air pump is connected with the linear soft body and used for inflating the linear soft body to bend the linear soft body;
the distance measuring sensor is used for measuring the position change of the linear soft body;
and the data processing module is respectively connected with the distance measuring sensor and the bending sensor and is used for calculating a curvature calculation value of the bending of the linear soft body according to the position change of the linear soft body, acquiring a corresponding electric signal output by the bending sensor and calibrating the electric signal of the bending sensor according to the curvature calculation value.
Further, the air pump is connected with the linear software through a pipeline, and an electromagnetic proportional pressure regulating valve is arranged on the pipeline.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: according to the method and the system for automatically, continuously and uniformly calibrating the curvature of the bending sensor, the linear soft body in the soft body robot technology is used as a bending model, the curvature is uniformly changed, the bending curvature of the linear soft body can be continuously sampled, the continuous calibration of the bending sensor is further realized, the calibration precision is improved, and the curvature calibration range is expanded; compared with the existing manual calibration, the linear soft body bending speed is controllable, the linear soft body bending speed is simple and easy to use, and the reliability and the accuracy are greatly improved.
Drawings
FIG. 1 is a first schematic diagram of a method for automatically, continuously, and uniformly calibrating curvature for a bending sensor according to the present invention;
FIG. 2 is a second schematic diagram of a method for automatically, continuously, and uniformly calibrating curvature of a bending sensor according to the present invention;
FIG. 3 is a schematic diagram of a curvature calculation value of the curve of the linear soft body calculated according to the position change of the linear soft body;
FIG. 4 is a perspective view of the line type software 1 of FIG. 1 in an uninflated state;
FIG. 5 is a cross-sectional view of the line type bladder 1 of FIG. 1 in an uninflated state;
FIG. 6 is a perspective view of the inflatable state of the thread type soft body 1 in FIG. 1;
fig. 7 is a perspective view of the sensor layer 102 of fig. 4.
In the figure: 1-linear soft body, 101-cavity, 101 a-air channel, 102-sensor layer, 102a groove, 2-distance measuring sensor and 3-bracket.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings. The following presents a simplified summary of the invention in order to provide a basic understanding of the invention and to provide a basic understanding of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The embodiment of the invention provides a method for automatically, continuously and uniformly calibrating curvature of a bending sensor, which is suitable for curvature calibration of a linear bending sensor and curvature calibration of a nonlinear bending sensor. The method specifically comprises the following steps S1 to S4.
S1, clamping one end of a linear soft body 1 to fix the linear soft body at a set position, wherein a plurality of cavities 101 are formed in one side of the linear soft body 1, bending sensors to be calibrated are installed on the other side of the linear soft body 1, and the cavities 101 are arranged at intervals along the length direction of the linear soft body 1 and are communicated with one another.
The linear soft body 1 is first clamped by a clamp to keep it in a stable state in preparation for subsequent inflation and bending. In this embodiment, the linear soft body 1 is vertically disposed, and the upper end of the linear soft body 1 is clamped, so that the linear soft body 1 is vertically disposed.
As shown in fig. 4, 5 and 6, the linear soft body 1 is a columnar structure, which is injection molded by soft material such as silica gel. The bottoms of the cavities 101 are connected by an air passage 101a to communicate with the adjacent cavities 101. And the cavities 101 are arranged at equal intervals along the length direction of the soft mold body 1, so that the cavities 101 are uniformly distributed, and stress concentration during inflation is avoided.
The number of the cavities 101 is set to be plural, and in this embodiment, the number of the cavities 101 is set to be five so as to match the length of the bending sensor. It is understood that the number of the cavities 101 can be flexibly set according to the length of the bending sensor in a specific application, and is not limited in the embodiment.
As shown in fig. 4 and 5, it should be noted that the cross-sectional shape of the cavity 101 is U-shaped or semicircular. Compared with a variable-section structure, the cavity 101 has a semicircular section, so that the constant-curvature bending (if the section is changed, the curvature is different everywhere during the bending) can be ensured, and the uniform change of the curvature, namely the uniform bending, can be ensured due to the constant-curvature bending. The bending sensor is required to be installed on the linear soft body 1 subsequently, and the linear soft body 1 is bent together, so that the bending sensor is driven to be bent uniformly by the uniform bending of the linear soft body 1. In addition, compared with polygonal cross-section structures such as rectangle, trapezoid and the like, the semicircular structure can reduce stress concentration, so that the service life of the linear soft body 1 is prolonged.
As shown in fig. 4 and 7, the specific installation manner of the bending sensor is as follows: the side, departing from each cavity, of the linear soft body 1 is provided with a sensor layer 102 in adhesive connection, and the sensor layer 102 is also made of soft materials such as silica gel. The surface of the sensor layer 102 is provided with a groove 102a, the depth of the groove 102 is approximately the same as the thickness of the bending sensor, the bending sensor is embedded into the groove 102a, and the sensor layer 102 is bonded with the linear soft body 1, so that the installation of the bending sensor is completed. When the bending sensor is installed, a lead of the bending sensor needs to be led out, so that an electric signal output by the bending sensor can be acquired later.
S2, inflating the linear soft body 1 to bend the linear soft body and drive the bending sensor to bend, measuring the position change of the linear soft body 1 through the distance measuring sensor 2, and outputting a corresponding electric signal by the bending sensor.
Further, the distance measuring sensor 2 measures the position change of the linear soft body 1 in the bending process of the linear soft body 1 at a set frequency, and the bending sensor outputs an electric signal corresponding to the position change of the linear soft body 1 each time. Therefore, the position change corresponding to different bending amplitudes of the linear soft body 1 and the electric signals output by the bending sensor of different bending amplitudes of the linear soft body 1 can be obtained.
Specifically, the linear soft body 1 is inflated by the air pump, so that the linear soft body 1 is gradually bent, and the bending amplitude of the linear soft body 1 is increased along with the increase of the internal air pressure. The inflation air pressure is controlled by an electromagnetic proportional pressure regulating valve in the process of inflating the linear software 1, namely, the electromagnetic proportional pressure regulating valve is arranged on a pipeline between the air pump and the linear software 1, and the air pressure input into the linear software 1 can be controlled by the electromagnetic proportional pressure regulating valve so as to control the bending speed of the linear software.
For example, an electric signal of y = kt is input to the electromagnetic proportional pressure regulating valve through a single chip microcomputer, k is a proportional coefficient, and t is time. By the y = kt function, the electric signal input to the pressure regulating valve can be changed uniformly, and further, the air pressure output by the pressure regulating valve can be changed uniformly. The bending speed of the linear soft body 1 can be adjusted by adjusting the proportionality coefficient k.
It should be noted that the frequency of data collected by the distance measuring sensor 2 is fixed, and the slower the bending speed of the linear soft body 1 is, the more data is collected, the smaller the curvature interval is obtained. Assuming k =1, if the linear software 1 is too fast after inputting the y = t function, then the curvature dispersion of the acquisition is larger at the same acquisition frequency. In other words, in practical applications, if the inflation speed of the linear software is too fast, for example, if the finger is bent from 0 ° to 50 ° within one second, the acquisition interval of each curvature is 1 °; if the finger is bent from 0 ° to 10 ° in one second, the acquisition interval for each curvature is 0.2 °, in which case the coefficient k may be reduced, e.g. y =0.1 × t, to obtain continuous acquisition data.
As shown in fig. 1, in this embodiment, the distance measuring sensor 2 is fixed on one side of the linear soft body 1 through a bracket 3, and the distance measuring sensor 2 is vertically arranged and parallel to the linear soft body 1. The distance measuring sensor 2 obtains the position change of the linear soft body 1 by measuring the horizontal distance change from the distance measuring sensor to the linear soft body 1. The distance measuring sensor 2 selects a TFminiplus type laser distance measuring module, the fastest distance measuring time can reach 1ms, the maximum 1000 times of distance measuring information can be output every second, and the distance measuring sensor has the advantages of high frequency and small size.
As shown in fig. 1 and 4, when the linear soft body 1 is not inflated, it is in a natural drooping state, and the distance measuring sensor 2 measures that the horizontal distance from the linear soft body 1 is L1;
as shown in fig. 2 and 6, when the linear soft body 1 is in a bending state after being inflated, the distance measuring sensor 2 measures that the horizontal distance from the linear soft body 1 is L2.
Thus, as shown in fig. 3, the distance measuring sensor 2 measures and obtains the horizontal distance change from the linear software 1, i.e. L3, L3= L1-L2.
S3, calculating a curvature calculation value of the bending of the linear soft body 1 according to the position change of the linear soft body 1. As shown in FIG. 3, since the position change of the linear soft body 1 is performed at the same level, the distance h from the measuring point to the upper end of the linear soft body 1 is constant, and thus the included angle can be easily calculated according to tan function (trigonometric function)
I.e. a calculated curvature value.
Thus, the curvature calculation values of different bending amplitudes of the linear soft body 1 can be calculated. Meanwhile, the bending sensor outputs electric signals corresponding to different bending amplitudes of the linear soft body 1 in the bending process of the linear soft body 1, wherein the electric signals are voltage values in the embodiment. A one-to-one correspondence of the curvature calculation value and the voltage value can be obtained.
In addition, in order to make the result accurate, the steps are repeated for a plurality of times, and the accuracy of the curvature calculation value and the voltage value is improved by using an averaging method.
And S4, calibrating the electric signal output by the bending sensor according to the curvature calculation value.
And calibrating the corresponding electric signals output by the bending sensor according to the curvature calculation value of each linear soft body position change. The calibration method has two types:
one is as follows: the curvature calculation value and the voltage value data are fitted through methods such as deep learning and neural network to form a nonlinear function, the function is stored in the single chip microcomputer, and when the bending sensor is used later, the single chip microcomputer can input the data of the bending sensor into the fitted function to obtain the actual curvature.
And the second step is as follows: the curvature-voltage corresponding data form a two-dimensional table, the interval between curvatures can be every 0.1 degree or every 0.01 degree, or every 1 degree, and the like, discrete intervals can be set according to required precision, the table is stored in a single chip microcomputer, and when the bending sensor is used later, the single chip microcomputer can inquire the curvature data corresponding to the voltage value of the bending sensor in the table.
In addition, as shown in fig. 1, 4 and 7, based on the above method for automatically, continuously and uniformly calibrating curvature of a bending sensor, an embodiment of the present invention further provides a system for automatically, continuously and uniformly calibrating curvature of a bending sensor, including:
the upper end of the linear soft body 1 is clamped by a clamp and fixed at a set position, one side of the linear soft body 1 is provided with a plurality of cavities 101, the other side of the linear soft body is provided with a bending sensor to be calibrated, and the cavities 101 are arranged at intervals along the length direction of the linear soft body 1 and are communicated with each other;
the air pump is connected with the linear soft body 1 through a pipeline, an electromagnetic proportional pressure regulating valve is arranged on the pipeline, the air pump is used for inflating the linear soft body 1 to bend the linear soft body, and the inflation air pressure can be controlled by regulating the electromagnetic proportional pressure regulating valve so as to control the bending speed of the linear soft body 1.
The range finding sensor 2 is used for measuring the position change of the linear soft body 1, the range finding sensor 2 is fixed on one side of the linear soft body 1 through a support 3, and the range finding sensor 2 is vertically arranged and is parallel to the linear soft body 1;
and the data processing module (single chip microcomputer) is respectively connected with the distance measuring sensor 2 and the bending sensor and is used for calculating a curvature calculation value of the bending of the linear soft body 1 according to the position change of the linear soft body 1, acquiring a corresponding electric signal output by the bending sensor and calibrating the electric signal of the bending sensor according to the curvature calculation value. The calculation method of the curvature calculation value and the calibration method of the electrical signal of the bending sensor according to the curvature calculation value are explained in detail above, and will not be described redundantly here.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that they are relative concepts that may be modified in various manners of use and placement and that the use of directional terms should not be taken to limit the scope of what is claimed.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A method for automatically, continuously and uniformly calibrating curvature of a bending sensor is characterized by comprising the following steps: a system for automatic, continuous, uniform curvature calibration using a bending sensor, the system comprising:
one end of the linear soft body is clamped and fixed at a set position, one side of the linear soft body is provided with a plurality of cavities, the other side of the linear soft body is provided with a bending sensor to be calibrated, and the cavities are arranged at intervals along the length direction of the linear soft body and are communicated with each other;
the air pump is connected with the linear soft body and used for inflating the linear soft body to bend the linear soft body, the air pump is connected with the linear soft body through a pipeline, and an electromagnetic proportional pressure regulating valve is arranged on the pipeline;
the distance measuring sensor is used for measuring the position change of the linear soft body;
the data processing module is respectively connected with the distance measuring sensor and the bending sensor and is used for calculating a curvature calculation value of the bending of the linear soft body according to the position change of the linear soft body, acquiring a corresponding electric signal output by the bending sensor and calibrating the electric signal of the bending sensor according to the curvature calculation value;
the method comprises the following steps:
s1, clamping one end of a linear software to fix the linear software at a set position;
s2, inflating the linear soft body to bend the linear soft body and drive the bending sensor to bend, measuring position change of the linear soft body in a bending process by a distance measuring sensor at a set frequency, and outputting an electric signal corresponding to each linear soft body change by the bending sensor;
the method comprises the steps that in the process of inflating the linear software, inflation air pressure is controlled through an electromagnetic proportional pressure regulating valve, an electric signal with y = kt is input to the electromagnetic proportional pressure regulating valve through a single chip microcomputer, k is a proportional coefficient, t is time, the bending speed of the linear software is regulated through adjusting the proportional coefficient k, and the discreteness of the electric signal measured and output by a distance measuring sensor is reduced through reducing the proportional coefficient k;
s3, calculating a curvature calculation value of the linear soft body bending according to the position change of the linear soft body each time;
and S4, calibrating the corresponding electric signal output by the bending sensor according to the curvature calculation value of each linear software position change.
2. The method for automatically, continuously and uniformly calibrating curvature of a bending sensor according to claim 1, wherein the method comprises the following steps: the cross section of the cavity is U-shaped or semicircular.
3. The method for automatically, continuously and uniformly calibrating curvature of a bending sensor according to claim 1, wherein the method comprises the following steps: one side of the linear soft body is provided with a groove so that the bending sensor is embedded and installed.
4. The method for automatically, continuously and uniformly calibrating curvature of a bending sensor according to claim 1, wherein the method comprises the following steps: in the step S1, the linear soft body is vertically arranged and the upper end of the linear soft body is clamped.
5. The method for automatically, continuously and uniformly calibrating curvature of a bending sensor according to claim 4, wherein the method comprises the following steps: the distance measuring sensor is arranged in parallel with the linear soft body.
6. The method for automatically, continuously and uniformly calibrating curvature of a bending sensor according to claim 5, wherein: the ranging sensor is fixed at a set position, and the position change of the linear software is obtained by measuring the horizontal distance change from the ranging sensor to the linear software.
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