Magnetic ball calibration method and magnetic ball calibration apparatus

A magnetic ball calibration apparatus, wherein the magnetic ball comprises magnetic poles along a main axis direction, comprising:

• a driving unit for driving the magnetic ball to rotate, comprising a first driving unit and a second driving unit, wherein the first driving unit is used to drive the magnetic ball to rotate around a first axis, and the second driving unit is used to drive the magnetic ball to rotate around a second axis, and calibrate the magnetic ball based on the calibration position;
• a three-axis magnetic field sensor, disposed adjacent to the magnetic ball to obtain detection data of three-axis magnetic field components during rotation of the magnetic ball;
• and
• a data processing unit, connected to the three-axis magnetic field sensor to receive the detection data of the three-axis magnetic field components, and obtain the calibration position of the magnetic ball according to the detection data changing with the rotation angle during rotation of the magnetic ball,
• wherein, when the magnetic ball is at the calibration position, the main axis coincides with the second axis;
• the first axis is perpendicular to the second axis;
• the three-axis magnetic field components comprise an X-axis magnetic field component, a Y-axis magnetic field component and a Z-axis magnetic field component;
• the direction of the Z-axis magnetic field component coincides with the direction of the second axis, and the direction of the Y-axis magnetic field component coincides with the direction of the first axis.