Automatic cone searching method based on magnetic field sensing

Abstract

The invention provides an automatic cone searching method based on magnetic field sensing, which comprises the following steps of: acquiring real-time magnetic induction data output by a magnetic resistance sensing unit arranged on a cone searching device based on a target magnet, and a magnet position corresponding to the target magnet based on the real-time magnetic induction data; generating a moving direction for controlling the cone searching device to move towards the target magnet based on the magnet position, and triggering a cone barrel recognition unit arranged on the cone searching device to perform feature collection corresponding to the moving direction when the cone searching device moves based on the moving direction to obtain real-time feature data; and cone barrel feature data corresponding to the cone barrel are called, the target magnet is determined as a magnetic element arranged in the cone barrel under the condition that the real-time feature data are matched with the cone barrel feature data, and a mechanical arm arranged on the cone searching device is controlled to execute collection operation on the cone barrel corresponding to the target magnet. According to the invention, the efficiency and precision of automatic operation are at least improved.

Description

Technical Field

[0001] The invention relates to data processing technology, and in particular to an automatic cone-finding method based on magnetic field perception. Background Art

[0002] There are two types of traditional cone bucket automatic collection: manual collection, which has safety risks and low efficiency. The other is automatic collection, which mainly relies on visual systems or photoelectric sensors for object recognition. These methods will have the problem of reduced accuracy when the light changes or in complex environments.

[0003] Therefore, a new method is needed to efficiently and accurately identify and collect cones under different environmental conditions. Summary of the invention

[0004] Based on the above problems, the present invention is proposed to provide an automatic cone-finding method based on magnetic field perception that overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of the present invention, there is provided an automatic cone-finding method based on magnetic field perception, comprising the following steps: Acquire real-time magnetic induction data outputted by a magnetic resistance induction unit arranged on a cone-finding device based on a target magnet, and determine a magnet position corresponding to the target magnet based on the real-time magnetic induction data; Based on the magnet position, a moving direction of the cone-seeking device to move toward the target magnet is generated, and when the cone-seeking device moves based on the moving direction, a cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data; The cone barrel characteristic data corresponding to the cone barrel is retrieved, and when the real-time characteristic data matches the cone barrel characteristic data, the target magnet is determined to be a magnetic element set in the cone barrel, and the robotic arm set on the cone-seeking device is controlled to perform a collecting operation on the cone barrel corresponding to the target magnet.

[0006] Optionally, in the method according to the present invention, obtaining real-time magnetic induction data output by a magnetic resistance induction unit arranged on the cone-finding device based on a target magnet, and determining a magnet position corresponding to the target magnet based on the real-time magnetic induction data comprises: Determine a first induction subunit, a second induction subunit and a third induction subunit corresponding to the magnetic resistance induction unit, and establish a device coordinate system corresponding to the cone-finding device; Acquire first sensor coordinates, second sensor coordinates and third sensor coordinates corresponding to the first sensor unit, the second sensor unit and the third sensor unit, respectively, based on the device coordinate system, and determine the first sensor coordinates, the second sensor coordinates and the third sensor coordinates as a sensing coordinate group; Acquire first magnetic induction data, second magnetic induction data, and third magnetic induction data outputted by the first induction subunit, the second induction subunit, and the third induction subunit respectively based on the target magnet, and determine the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group; Determine the magnetic induction distances between the corresponding different induction sub-units and the target magnet based on the magnetic induction data in the magnetic induction data group, and determine the magnetic induction distances as a magnetic induction distance group; The magnet position corresponding to the target magnet is determined based on the sensing sub-coordinates and the magnetic sensing distance of the corresponding same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group.

[0007] Optionally, in the method according to the present invention, obtaining first magnetic induction data, second magnetic induction data, and third magnetic induction data outputted by the first induction subunit, the second induction subunit, and the third induction subunit respectively based on the target magnet, and determining the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group includes: Acquire first original data, second original data, and third original data outputted by the first induction unit, the second induction unit, and the third induction unit respectively based on the target magnet, and determine the first original data, the second original data, and the third original data as an original data group; Performing data cleaning based on filtering on each raw data in the raw data group, and amplifying each raw data after data cleaning to obtain first magnetic induction data, second magnetic induction data, and third magnetic induction data corresponding to the first sensing sub-unit, the second sensing sub-unit, and the third sensing sub-unit, respectively; The first magnetic induction data, the second magnetic induction data and the third magnetic induction data are determined as a magnetic induction data group.

[0008] Optionally, in the method according to the present invention, determining each magnetic induction distance between each corresponding different induction sub-unit and the target magnet based on each magnetic induction data in the magnetic induction data group includes: The sensing distances between each sensing sub-unit and the target magnet are determined by the following formulas, including: Among them, the is the first sensing distance corresponding to the first sensing subunit, is the first magnetic induction value corresponding to the first magnetic induction data, To retrieve the surface magnetic induction value of the magnetic element corresponding to the cone barrel, the is the second sensing distance corresponding to the second sensing sub-unit, is a second magnetic induction value corresponding to the second magnetic induction data, is the third sensing distance corresponding to the third sensing sub-unit, is a third magnetic induction value corresponding to the third magnetic induction data.

[0009] Optionally, in the method according to the present invention, determining the magnet position corresponding to the target magnet based on the sensing sub-coordinates and the magnetic sensing distance of the same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group includes: The magnet position corresponding to the target magnet is determined by the following formula: Among them, the magnet coordinates corresponding to the magnet position are , the coordinates of the first sensor are , the coordinates of the second sensor are , the coordinates of the third sensor are .

[0010] Optionally, in the method according to the present invention, a moving direction of the cone-seeking device to move toward the target magnet is generated based on the magnet position, and when the cone-seeking device moves based on the moving direction, a cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data, including: Determine any induction subunit as a reference subunit, and determine a moving direction and a moving distance from the induction subcoordinate to the magnet coordinate based on the magnet coordinate corresponding to the magnet position and the induction subcoordinate corresponding to the reference subunit; Determine an initial direction corresponding to the cone-seeking device, and control the cone-seeking device to rotate from the initial direction to a moving direction; In response to the cone-seeking device rotating to the moving direction, the cone-seeking device is controlled to move toward the moving direction corresponding to the moving distance, and the cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data.

[0011] Optionally, in the method according to the present invention, triggering a cone barrel recognition unit provided on the cone-finding device to collect features corresponding to the moving direction to obtain real-time feature data includes: Triggering the cone barrel recognition unit disposed on the cone-seeking device to emit a collection signal wave toward the moving direction; A characteristic signal wave formed after the acquisition signal wave is reflected by the target magnet is acquired, and feature extraction is performed based on the characteristic signal wave to obtain real-time feature data corresponding to the target magnet, wherein the real-time feature data includes a target shape, a target material, and a target size corresponding to the target magnet.

[0012] Optionally, in the method according to the present invention, the cone barrel characteristic data corresponding to the cone barrel is retrieved, and when the real-time characteristic data matches the cone barrel characteristic data, the target magnet is determined to be a magnetic element disposed in the cone barrel, and a mechanical arm disposed on the cone-seeking device is controlled to perform a collection operation on the cone barrel corresponding to the target magnet, including: Retrieving cone barrel characteristic data corresponding to the cone barrel, wherein the cone barrel characteristic data includes a cone barrel shape, a cone barrel material, and a cone barrel size corresponding to the cone barrel; Comparing the cone barrel characteristic data with the real-time characteristic data; When the cone barrel shape, cone barrel material and cone barrel size match the target shape, target material and target size respectively, the target magnet is determined as a magnetic element arranged in the cone barrel, and the robotic arm arranged on the cone-seeking device is controlled to collect the cone barrel corresponding to the target magnet.

[0013] According to another aspect of the present invention, there is provided an automatic cone-finding system based on magnetic field perception, comprising: A magnetic field sensing module is configured to obtain real-time magnetic induction data output by a magnetic resistance sensing unit arranged on a cone-finding device based on a target magnet, and a magnet position corresponding to the target magnet based on the real-time magnetic induction data; A shape recognition module is configured to generate a moving direction for controlling the cone-seeking device to move toward the target magnet based on the position of the magnet, and to trigger a cone barrel recognition unit disposed on the cone-seeking device to collect features corresponding to the moving direction when the cone-seeking device moves based on the moving direction, so as to obtain real-time feature data; The cone barrel collecting module is configured to retrieve the cone barrel characteristic data corresponding to the cone barrel, and determine the target magnet as a magnetic element set in the cone barrel when the real-time characteristic data matches the cone barrel characteristic data, and control the robotic arm set on the cone-seeking device to perform a collecting operation on the cone barrel corresponding to the target magnet.

[0014] According to another aspect of the present invention, there is provided a cone barrel device, comprising: Search cones and cone barrels; The cone-finding device includes a magnetic resistance sensing unit, a cone barrel recognition unit, a mechanical arm, and the automatic cone-finding system based on magnetic field perception as proposed above; The conical barrel comprises a barrel body and a target magnet arranged in the barrel body.

[0015] According to the solution of the present invention, the present invention can automatically search for cone barrels located around the cone-seeking device and perform corresponding collection operations to achieve automatic collection of cone barrels, improve working capabilities in complex environments, reduce recognition errors and collection failures caused by environmental conditions or sensor limitations, and thus improve the efficiency and accuracy of overall automated operations; wherein, automatic search for cone barrels can be achieved based on magnetic field sensing and shape recognition technology, that is, by judging whether there are target magnets that generate magnetic fields around, and further determining whether the target magnets are magnetic elements arranged in the cone barrels based on shape recognition, thereby improving corresponding recognition accuracy and corresponding work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of an automatic cone-finding method based on magnetic field perception according to an embodiment of the present invention is shown; Figure 2 shows a schematic diagram of a magnetoresistive sensing unit in this embodiment; Figure 3 A partial cross-sectional view of the cone-finding device in this embodiment is shown; Figure 4 A structural block diagram of an automatic cone-finding system based on magnetic field perception according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0017] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0018] There are two types of traditional cone bucket automatic collection: manual collection, which has safety risks and low efficiency. The other is automatic collection, which mainly relies on visual systems or photoelectric sensors for object recognition. These methods will have the problem of reduced accuracy when the light changes or in complex environments.

[0019] Therefore, a new method is needed to efficiently and accurately identify and collect cones under different environmental conditions.

[0020] To solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. An embodiment of the present invention provides an automatic cone-finding method based on magnetic field sensing, which can be executed in a computing device, wherein the computing device can be understood as a terminal with data processing function, such as a mobile phone or a computer.

[0021] Figure 1 A flow chart of an automatic cone-finding method based on magnetic field perception according to an embodiment of the present invention is shown. The method is suitable for being executed in a computing device.

[0022] like Figure 1 As shown, the purpose of this embodiment is to implement an automatic cone-finding method based on magnetic field perception. The method starts with step S102. In step S102, the following contents are included: The real-time magnetic induction data outputted by the magnetic resistance induction unit arranged on the cone-finding device based on the target magnet is obtained, and the magnet position corresponding to the target magnet based on the real-time magnetic induction data is obtained.

[0023] It should be noted that, in the present embodiment, in order to enable the magnetoresistive sensing unit provided on the cone-finding device to automatically identify and confirm the cone barrel placed at any position, a corresponding magnetic element may be provided inside the cone barrel, for example, by an embedded manner, so that the cone barrel can generate a stable magnetic field based on the magnetic element to be identified by the magnetoresistive sensing unit. In order to increase the corresponding magnetic field strength so that the magnetoresistive sensing unit can accurately obtain the real-time magnetic induction data output by the magnetic element at a longer distance, a neodymium iron boron permanent magnet, which is one of the strongest magnets, may be used. This magnetic element can generate a stable magnetic field to ensure that it can be identified by the magnetoresistive sensing unit provided on the cone-finding device within a distance of several meters. When the magnetic resistance sensing unit arranged on the cone-seeking device outputs corresponding real-time magnetic sensing data based on any target magnet, it indicates that there may be cone barrels that need to be collected around the cone-seeking device. Therefore, the magnet position corresponding to the target magnet can be generated based on the real-time magnetic sensing data.

[0024] Furthermore, in this embodiment, the above-mentioned “obtaining real-time magnetic induction data outputted by the magnetic resistance induction unit provided on the cone-finding device based on the target magnet, and determining the magnet position corresponding to the target magnet based on the real-time magnetic induction data” may also include the following steps: Determine a first induction subunit, a second induction subunit and a third induction subunit corresponding to the magnetic resistance induction unit, and establish a device coordinate system corresponding to the cone-finding device; Acquire first sensor coordinates, second sensor coordinates and third sensor coordinates corresponding to the first sensor unit, the second sensor unit and the third sensor unit, respectively, based on the device coordinate system, and determine the first sensor coordinates, the second sensor coordinates and the third sensor coordinates as a sensing coordinate group; Acquire first magnetic induction data, second magnetic induction data, and third magnetic induction data outputted by the first induction subunit, the second induction subunit, and the third induction subunit respectively based on the target magnet, and determine the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group; Determine the magnetic induction distances between the corresponding different induction sub-units and the target magnet based on the magnetic induction data in the magnetic induction data group, and determine the magnetic induction distances as a magnetic induction distance group; The magnet position corresponding to the target magnet is determined based on the sensing sub-coordinates and the magnetic sensing distance of the corresponding same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group.

[0025] For example, in this embodiment, in order to enable the cone-finding device to obtain the magnetic position of any target magnet, a three-point positioning method can be adopted to perform corresponding positioning. Before positioning, a corresponding magnetic resistance sensing unit needs to be installed on the cone-finding device in advance, wherein, Figure 2 As shown, the magnetoresistive sensing unit may include three sensing sub-units (eg Figure 2 S1, S2 and S3 in the figure), wherein two sensing sub-units can be installed at both sides of the front end of the cone-finding device, and the remaining one sensing sub-unit can be installed at the center of the cone-finding device, so that from the perspective of the corresponding horizontal plane, the three sensing sub-units can form a corresponding isosceles triangle; Here, the corresponding sensing subunit can be a magnetoresistive sensor of the Honeyfield HMC series suitable for detecting weak magnetic fields. These magnetoresistive sensors are sensitive to magnetic field strengths in different directions and measure the surrounding magnetic field changes in real time with high precision; After completing the setting of the corresponding magnetoresistive sensing unit, a device coordinate system corresponding to the cone-finding device can be established, and further based on the device group coordinate system, the first sensing sub-coordinate, the second sensing sub-coordinate and the third sensing sub-coordinate of the first sensing sub-unit, the second sensing sub-unit and the third sensing sub-unit constituting the magnetoresistive sensing unit are obtained, and the first sensing sub-coordinate, the second sensing sub-coordinate and the third sensing sub-coordinate are determined as the corresponding sensing coordinate group; It can be known from the above content that the magnetoresistive sensing unit includes a first sensing subunit, a second sensing subunit and a third sensing subunit, and the three corresponding sensing subunits have different corresponding setting positions, so the magnetic induction data output for the target magnet will also be different. At this time, the first magnetic induction data, the second magnetic induction data and the third magnetic induction data corresponding to the first sensing subunit, the second sensing subunit and the third sensing subunit can be obtained, and the first magnetic induction data, the second magnetic induction data and the third magnetic induction data are determined as a magnetic induction data group; It is known that any magnetic field strength will generally decay as the distance increases. Therefore, based on this characteristic, the magnetic position corresponding to the target magnet can be determined by the induction coordinate group and the magnetic sensing distance of the corresponding same induction unit in the magnetic sensing distance group.

[0026] It should be noted that, in this embodiment, in order to further improve the data cleanliness and data accuracy of any magnetic induction data, the above-mentioned "obtaining the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data output by the first induction sub-unit, the second induction sub-unit, and the third magnetic induction data respectively based on the target magnet, and determining the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group" may also include the following steps: Acquire first original data, second original data, and third original data outputted by the first induction unit, the second induction unit, and the third induction unit respectively based on the target magnet, and determine the first original data, the second original data, and the third original data as an original data group; Performing data cleaning based on filtering on each raw data in the raw data group, and amplifying each raw data after data cleaning to obtain first magnetic induction data, second magnetic induction data, and third magnetic induction data corresponding to the first sensing sub-unit, the second sensing sub-unit, and the third sensing sub-unit, respectively; The first magnetic induction data, the second magnetic induction data and the third magnetic induction data are determined as a magnetic induction data group.

[0027] For example, in this embodiment, the first original data, the second original data and the third original data output by the target magnet can be respectively obtained for the first induction unit, the second induction unit and the third induction unit. Since corresponding noise data may exist in the first original data, the second original data and the third original data, the original data can be cleaned accordingly by filtering to eliminate the noise data as much as possible. At the same time, in order to improve the data quality of the original data, the original data can also be processed by corresponding signal amplification to obtain the corresponding first magnetic induction data, the second magnetic induction data and the third magnetic induction data.

[0028] Here, filtering the original data can be performed by setting a filter, that is, inputting the original data into the filter for filtering, and amplifying the original data signal can be performed by setting an amplifier, that is, inputting the original data into the amplifier for signal amplification.

[0029] Furthermore, it is mentioned in the above content that “any magnetic field strength generally decays with increasing distance”. Therefore, based on this feature, the above “determining the magnetic induction distances between the corresponding different induction sub-units and the target magnet based on the magnetic induction data in the magnetic induction data group” may also include the following steps: Among them, the is the first sensing distance corresponding to the first sensing subunit, is the first magnetic induction value corresponding to the first magnetic induction data, To retrieve the surface magnetic induction value of the magnetic element corresponding to the cone barrel, the is the second sensing distance corresponding to the second sensing sub-unit, is a second magnetic induction value corresponding to the second magnetic induction data, is the third sensing distance corresponding to the third sensing sub-unit, is a third magnetic induction value corresponding to the third magnetic induction data.

[0030] For example, in this embodiment, after the above-mentioned data collection and data processing, the corresponding first magnetic induction data, the second magnetic induction data and the third magnetic induction data can be obtained. Since the magnetic field strength usually decays with the increase of the distance from the target magnet, the magnetic induction distances between different induction units and the target magnet can be approximately described based on the above-mentioned formula.

[0031] It should be noted that the retrieved surface magnetic induction values ​​corresponding to the magnetic elements disposed in the cone barrel can be acquired in advance and stored in the corresponding server.

[0032] Furthermore, in this embodiment, after obtaining the magnetic sensing distances corresponding to different sensing sub-units, the above-mentioned “determining the magnet position corresponding to the target magnet based on the sensing sub-coordinates and the magnetic sensing distances of the same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group” may include the following steps: Among them, the magnet coordinates corresponding to the magnet position are , the coordinates of the first sensor are , the coordinates of the second sensor are , the coordinates of the third sensor are .

[0033] For example, the above formula can characterize the relative relationship between the magnetic sensing distance, the coordinates of the sensor and the coordinates of the magnet. Therefore, the above formula can be used to quickly obtain the coordinates of the magnet corresponding to the position of the magnet.

[0034] In step S104, the following steps are also included: The moving direction of the cone-seeking device toward the target magnet is generated based on the magnet position, and when the cone-seeking device moves based on the moving direction, the cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data.

[0035] For example, in this embodiment, when the magnetic resistance sensing unit provided on the cone-seeking device outputs corresponding real-time magnetic induction data based on the target magnet, it indicates that there may be cone barrels that need to be collected around the cone-seeking device, and after obtaining the magnet position corresponding to the target magnet, it is necessary to control the cone-seeking device to move based on the magnet position, so that the cone barrel identification unit provided on the cone-seeking device can perform real-time feature collection of the target magnet during the movement, and judge whether the target magnet is a magnetic element provided in the cone barrel that needs to be collected based on the obtained real-time feature data, so as to determine whether to perform the corresponding collection operation.

[0036] Further, in this embodiment, the above-mentioned "generating a moving direction of the cone-seeking device toward the target magnet based on the magnet position, and triggering a cone barrel recognition unit provided on the cone-seeking device to collect features corresponding to the moving direction when the cone-seeking device moves based on the moving direction to obtain real-time feature data" may also include the following steps: Determine any induction subunit as a reference subunit, and determine a moving direction and a moving distance from the induction subcoordinate to the magnet coordinate based on the magnet coordinate corresponding to the magnet position and the induction subcoordinate corresponding to the reference subunit; Determine an initial direction corresponding to the cone-seeking device, and control the cone-seeking device to rotate from the initial direction to a moving direction; In response to the cone-seeking device rotating to the moving direction, the cone-seeking device is controlled to move toward the moving direction corresponding to the moving distance, and the cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data.

[0037] For example, in this embodiment, in order to determine the moving direction of the corresponding cone-finding device toward the target magnet, any induction subunit provided on the cone-finding device can be determined as the corresponding reference subunit, and the corresponding moving direction and moving distance can be determined based on the induction subcoordinates corresponding to the reference subunit and the magnet coordinates of the corresponding magnet position; Here, since the cone-seeking device moves based on the center, the sensing subunit corresponding to the center of the cone-seeking device can be determined as the reference subunit, thereby improving the accuracy of determining the moving direction and moving distance.

[0038] After completing the determination of the moving direction and the moving distance, the initial direction of the current movement of the cone-seeking device can be obtained to control the cone-seeking device to rotate from the initial direction to the moving direction, thereby further controlling the cone-seeking device to move a corresponding moving distance along the moving direction, and further triggering the cone barrel recognition unit set on the cone-seeking device to perform corresponding feature collection to obtain corresponding real-time feature data.

[0039] Furthermore, in this embodiment, the above-mentioned “triggering the cone barrel recognition unit provided on the cone-finding device to collect features corresponding to the moving direction to obtain real-time feature data” may also include the following steps: Triggering the cone barrel recognition unit disposed on the cone-seeking device to emit a collection signal wave toward the moving direction; A characteristic signal wave formed after the acquisition signal wave is reflected by the target magnet is acquired, and feature extraction is performed based on the characteristic signal wave to obtain real-time feature data corresponding to the target magnet, wherein the real-time feature data includes a target shape, a target material, and a target size corresponding to the target magnet.

[0040] Here, the corresponding cone barrel recognition unit may include a radar sensor. Since the radar signal is an electromagnetic wave, such as a radio wave or a microwave, and the propagation of these waves is less affected by the electromagnetic field, the radar sensor may be selected as the cone barrel recognition unit. When performing feature collection, the cone barrel recognition unit emits a corresponding collection signal wave in the direction of movement. When the collection signal wave is reflected by the target magnet, a corresponding characteristic signal wave is formed, so that the target shape, target material and target size corresponding to the target magnet can be determined based on the characteristic signal wave.

[0041] It should be noted that since the intensity of the reflected characteristic signal wave is related to the radar cross-section of the target magnet, which depends on the size, shape and material of the object, the radar can identify different types of objects by analyzing the radar cross-section.

[0042] In step S106, the following contents are included: The cone barrel characteristic data corresponding to the cone barrel is retrieved, and when the real-time characteristic data matches the cone barrel characteristic data, the target magnet is determined to be a magnetic element set in the cone barrel, and the robotic arm set on the cone-seeking device is controlled to perform a collecting operation on the cone barrel corresponding to the target magnet.

[0043] For example, in this embodiment, after completing the determination of the target shape, target material and target size of the target magnet, in order to determine whether the target magnet is a magnetic element arranged in the cone barrel, the pre-stored cone barrel feature data corresponding to the cone barrel can be retrieved to perform data matching with the real-time feature data; and when the two match, the target magnet is determined to be a magnetic element arranged in the cone barrel, and the robotic arm arranged on the cone-seeking device is further controlled to perform the corresponding collection operation on the cone barrel.

[0044] Furthermore, in this embodiment, the above-mentioned "retrieving the cone barrel characteristic data corresponding to the cone barrel, and determining the target magnet as a magnetic element set in the cone barrel when the real-time characteristic data matches the cone barrel characteristic data, and controlling the mechanical arm set on the cone-seeking device to perform a collection operation on the cone barrel corresponding to the target magnet" may also include the following steps: Retrieving cone barrel characteristic data corresponding to the cone barrel, wherein the cone barrel characteristic data includes a cone barrel shape, a cone barrel material, and a cone barrel size corresponding to the cone barrel; Comparing the cone barrel characteristic data with the real-time characteristic data; When the cone barrel shape, cone barrel material and cone barrel size match the target shape, target material and target size respectively, the target magnet is determined as a magnetic element arranged in the cone barrel, and the robotic arm arranged on the cone-seeking device is controlled to collect the cone barrel corresponding to the target magnet.

[0045] For example, in this embodiment, since the target shape, target material and target size corresponding to the target magnet have been obtained through the above-mentioned method steps, after completing the retrieval of the cone barrel shape, cone barrel material and cone barrel size corresponding to the cone barrel, the cone barrel feature data can be compared with the real-time feature data. When the two match, the target magnet can be determined as a magnetic element arranged in the cone barrel, and the robotic arm arranged on the cone-seeking device can be controlled to collect the cone barrel corresponding to the target magnet.

[0046] It should be further explained that, after the cone-seeking device completes the collection operation of the cone barrel, the cone barrel can be further placed in a preset position or transferred to a storage device such as a storage warehouse, so as to carry out the search and collection process for the next cone barrel.

[0047] To summarize, the present embodiment can automatically search for cone barrels located around the cone-seeking device and perform corresponding collection operations to achieve automatic collection of cone barrels, improve the ability to work in complex environments, and reduce recognition errors and collection failures caused by environmental conditions or sensor limitations, thereby improving the efficiency and accuracy of overall automated operations; wherein, the automatic search for cone barrels can be achieved based on magnetic field sensing and shape recognition technology, that is, by judging whether there are target magnets that generate magnetic fields around, and further determining whether the target magnets are magnetic elements set in the cone barrels based on shape recognition, thereby improving the corresponding recognition accuracy and the corresponding work efficiency.

[0048] In addition, if Figure 3 As shown, Figure 3 A partial cross-sectional view of the cone-finding device in this embodiment is shown. Figure 3 It can be seen that the cone-seeking device includes various components arranged on the tailgate, including a translation slide base, a translation screw located at the translation slide base, wherein the translation screw is movably connected to the translation slider, a corresponding rotating shaft fixing block is arranged on the translation slider, and a translation motor is arranged at the end of the translation screw, so as to drive the translation slider to move left and right in the horizontal direction; further, in the vertical direction, a rotating shaft and a rotating motor located at the first end of the rotating shaft, and a sensor bracket located at the second end of the rotating shaft are also arranged on the rotating shaft fixing block, and a corresponding magnetic resistance induction unit (that is, Figure 3 Hall sensor in); It can be seen that in this embodiment, the cone-seeking device can be moved accordingly, and the left and right movement in the horizontal direction can be achieved through the translation slider, the translation screw and the translation motor, while the vertical angle adjustment can be achieved through the rotation motor and the rotation axis, thereby improving the corresponding adjustability and improving work efficiency.

[0049] Another embodiment of the present invention provides an automatic cone-finding system based on magnetic field perception. Figure 4 As the corresponding system block diagram, the system includes: A magnetic field sensing module is configured to obtain real-time magnetic induction data output by a magnetic resistance sensing unit arranged on a cone-finding device based on a target magnet, and a magnet position corresponding to the target magnet based on the real-time magnetic induction data; A shape recognition module is configured to generate a moving direction for controlling the cone-seeking device to move toward the target magnet based on the position of the magnet, and to trigger a cone barrel recognition unit disposed on the cone-seeking device to collect features corresponding to the moving direction when the cone-seeking device moves based on the moving direction, so as to obtain real-time feature data; The cone barrel collecting module is configured to retrieve the cone barrel characteristic data corresponding to the cone barrel, and determine the target magnet as a magnetic element set in the cone barrel when the real-time characteristic data matches the cone barrel characteristic data, and control the robotic arm set on the cone-seeking device to perform a collecting operation on the cone barrel corresponding to the target magnet.

[0050] Yet another embodiment of the present invention provides a cone barrel device, which includes a cone-finding device and a cone barrel; wherein the cone-finding device includes a magnetic resistance sensing unit, a cone barrel identification unit, a robotic arm, and the above-mentioned automatic cone-finding system based on magnetic field perception.

[0051] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0052] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0053] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0054] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0055] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0056] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0057] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0058] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0059] While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of the foregoing description will appreciate that other embodiments are contemplated which are within the scope of the invention thus described.

Claims

1. An automatic cone-finding method based on magnetic field perception, characterized in that: The following steps are involved: Acquire real-time magnetic induction data outputted by a magnetic resistance induction unit arranged on a cone-finding device based on a target magnet, and determine a magnet position corresponding to the target magnet based on the real-time magnetic induction data; Based on the magnet position, a moving direction of the cone-seeking device to move toward the target magnet is generated, and when the cone-seeking device moves based on the moving direction, a cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data; The cone barrel characteristic data corresponding to the cone barrel is retrieved, and when the real-time characteristic data matches the cone barrel characteristic data, the target magnet is determined to be a magnetic element set in the cone barrel, and the robotic arm set on the cone-seeking device is controlled to perform a collecting operation on the cone barrel corresponding to the target magnet.

2. The automatic cone-finding method based on magnetic field perception according to claim 1 is characterized in that: Acquiring real-time magnetic induction data outputted by a magnetic resistance induction unit arranged on the cone-finding device based on a target magnet, and determining a magnet position corresponding to the target magnet based on the real-time magnetic induction data, comprising: Determine a first induction subunit, a second induction subunit and a third induction subunit corresponding to the magnetic resistance induction unit, and establish a device coordinate system corresponding to the cone-finding device; Acquire first sensor coordinates, second sensor coordinates and third sensor coordinates corresponding to the first sensor unit, the second sensor unit and the third sensor unit respectively based on the device coordinate system, and determine the first sensor coordinates, the second sensor coordinates and the third sensor coordinates as a sensing coordinate group; Acquire first magnetic induction data, second magnetic induction data, and third magnetic induction data outputted by the first induction subunit, the second induction subunit, and the third induction subunit based on the target magnet, respectively, and determine the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group; Determine the magnetic induction distances between the corresponding different induction sub-units and the target magnet based on the magnetic induction data in the magnetic induction data group, and determine the magnetic induction distances as a magnetic induction distance group; The magnet position corresponding to the target magnet is determined based on the sensing sub-coordinates and the magnetic sensing distance of the corresponding same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group.

3. The automatic cone-finding method based on magnetic field perception according to claim 2 is characterized in that: Acquiring first magnetic induction data, second magnetic induction data, and third magnetic induction data outputted by the first induction subunit, the second induction subunit, and the third induction subunit based on the target magnet, respectively, and determining the first magnetic induction data, the second magnetic induction data, and the third magnetic induction data as a magnetic induction data group, including: Acquire first original data, second original data, and third original data outputted by the first induction unit, the second induction unit, and the third induction unit respectively based on the target magnet, and determine the first original data, the second original data, and the third original data as an original data group; Performing data cleaning based on filtering on each raw data in the raw data group, and amplifying each raw data after data cleaning to obtain first magnetic induction data, second magnetic induction data, and third magnetic induction data corresponding to the first sensing sub-unit, the second sensing sub-unit, and the third sensing sub-unit, respectively; The first magnetic induction data, the second magnetic induction data and the third magnetic induction data are determined as a magnetic induction data group.

4. The automatic cone-finding method based on magnetic field perception according to claim 2 is characterized in that: Determining magnetic induction distances between corresponding different induction sub-units and the target magnet based on the magnetic induction data in the magnetic induction data group includes: The sensing distances between each sensing sub-unit and the target magnet are determined by the following formulas, including: Among them, the is the first sensing distance corresponding to the first sensing subunit, is the first magnetic induction value corresponding to the first magnetic induction data, To retrieve the surface magnetic induction value of the magnetic element corresponding to the cone barrel, the is the second sensing distance corresponding to the second sensing sub-unit, is a second magnetic induction value corresponding to the second magnetic induction data, is the third sensing distance corresponding to the third sensing sub-unit, is a third magnetic induction value corresponding to the third magnetic induction data.

5. The automatic cone-finding method based on magnetic field perception according to claim 4 is characterized in that: Determining the magnet position corresponding to the target magnet based on the sensing sub-coordinates and the magnetic sensing distance of the same sensing sub-unit located in the sensing coordinate group and the magnetic sensing distance group includes: The magnet position corresponding to the target magnet is determined by the following formula: Among them, the magnet coordinates corresponding to the magnet position are , the coordinates of the first sensor are , the coordinates of the second sensor are , the coordinates of the third sensor are .

6. The automatic cone-finding method based on magnetic field perception according to claim 5, characterized in that: Based on the magnet position, a moving direction of the cone-seeking device to move toward the target magnet is generated, and when the cone-seeking device moves based on the moving direction, a cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction, so as to obtain real-time feature data, including: Determine any induction subunit as a reference subunit, and determine a moving direction and a moving distance from the induction subcoordinate to the magnet coordinate based on the magnet coordinate corresponding to the magnet position and the induction subcoordinate corresponding to the reference subunit; Determine an initial direction corresponding to the cone-seeking device, and control the cone-seeking device to rotate from the initial direction to a moving direction; In response to the cone-seeking device rotating to the moving direction, the cone-seeking device is controlled to move toward the moving direction corresponding to the moving distance, and the cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data.

7. The automatic cone-finding method based on magnetic field perception according to claim 6 is characterized in that: The cone barrel recognition unit arranged on the cone-seeking device is triggered to collect features corresponding to the moving direction to obtain real-time feature data, including: Triggering the cone barrel identification unit disposed on the cone-seeking device to emit a collection signal wave toward the moving direction; A characteristic signal wave formed after the acquisition signal wave is reflected by the target magnet is acquired, and feature extraction is performed based on the characteristic signal wave to obtain real-time feature data corresponding to the target magnet, wherein the real-time feature data includes a target shape, a target material, and a target size corresponding to the target magnet.

8. The automatic cone-finding method based on magnetic field perception according to claim 7 is characterized in that: Retrieving cone barrel characteristic data corresponding to the cone barrel, and determining the target magnet as a magnetic element disposed in the cone barrel when the real-time characteristic data matches the cone barrel characteristic data, and controlling a mechanical arm disposed on the cone-finding device to perform a collection operation on the cone barrel corresponding to the target magnet, including: Retrieving cone barrel characteristic data corresponding to the cone barrel, wherein the cone barrel characteristic data includes a cone barrel shape, a cone barrel material, and a cone barrel size corresponding to the cone barrel; Comparing the cone barrel characteristic data with the real-time characteristic data; When the cone barrel shape, cone barrel material and cone barrel size match the target shape, target material and target size respectively, the target magnet is determined as a magnetic element arranged in the cone barrel, and the robotic arm arranged on the cone-seeking device is controlled to collect the cone barrel corresponding to the target magnet.

9. An automatic cone-finding system based on magnetic field perception, characterized in that: include: A magnetic field sensing module is configured to obtain real-time magnetic induction data output by a magnetic resistance sensing unit arranged on a cone-finding device based on a target magnet, and a magnet position corresponding to the target magnet based on the real-time magnetic induction data; A shape recognition module is configured to generate a moving direction for controlling the cone-seeking device to move toward the target magnet based on the position of the magnet, and to trigger a cone barrel recognition unit disposed on the cone-seeking device to collect features corresponding to the moving direction when the cone-seeking device moves based on the moving direction, so as to obtain real-time feature data; The cone barrel collecting module is configured to retrieve the cone barrel characteristic data corresponding to the cone barrel, and determine the target magnet as a magnetic element set in the cone barrel when the real-time characteristic data matches the cone barrel characteristic data, and control the robotic arm set on the cone-seeking device to perform a collecting operation on the cone barrel corresponding to the target magnet.

10. A cone barrel device, characterized in that: include: Search cones and cone buckets; Wherein, the cone-finding device comprises a magnetic resistance sensing unit, a cone barrel recognition unit, a mechanical arm, and the automatic cone-finding system based on magnetic field perception as claimed in claim 9; The conical barrel comprises a barrel body and a magnetic element arranged in the barrel body.

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