Magnetic ball calibration method and magnetic ball calibration apparatus

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

• a first driving motor, a three-axis magnetic sensor and a data processing unit;
• the first driving motor is used to drive the magnetic ball to rotate around a first axis by a first angle;
• the three-axis magnetic sensor is disposed adjacent to the magnetic ball to obtain detection data of three-axis magnetic field components at a detection position during rotation of the magnetic ball;
• and
• the data processing unit is connected to the three-axis magnetic sensor for receiving the detection data of the three-axis magnetic field components, and obtaining a zero point position P0 where a magnetic field intensity in a second axis direction is zero according to the detection data, and obtaining a calibration position of the magnetic ball according to the detection data and the zero point position P0, and calibrating the magnetic ball according to the calibration position;
• wherein, when the magnetic ball is located at the calibration position, the main axis coincides with a 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;
• a direction of the Z-axis magnetic field component coincides with the direction of the second axis, and a direction of the Y-axis magnetic field component coincides with that of the first axis.