Magnetic field emitter and pose detection device and method

Abstract

The invention relates to a magnetic field emitter and a pose detection device and method. The magnetic field emitter includes: a moving assembly defining a first axis and including a magnet whose polarity direction is not parallel to the first axis; the transmission assembly is used for limiting a second axis which is not coplanar with the first axis, the moving assembly is rotationally connected to the transmission assembly around the first axis, and the transmission assembly is used for enabling the moving assembly to rotate around the second axis and enabling the magnet to rotate around the first axis. The magnetic field emitter can realize an accurate time-varying magnetic field, and is used for measuring the spatial position and attitude of a moving object.

Description

Technical Field

[0001] The present disclosure relates to the technical field of detection devices, and in particular to a magnetic field transmitter, a posture detection device and a method. Background Art

[0002] In order to detect the position of moving objects, people have designed various solutions. For example, for some objects that are difficult to touch, they can be detected by taking images and combining them with algorithms; for objects that can be touched, sensors can be used for direct detection.

[0003] For some controlled movements, they can be calculated and inferred by measuring the drive device, but for many freely moving objects, it is difficult to predict. For example, for athletes or rehabilitation personnel, it is desirable to perform posture detection on their limbs to help determine the movement of the limbs; for objects held by the human body, including sports equipment or surgical instruments, it is desirable to perform posture detection to help determine whether the posture of the object is appropriate and whether it needs to be adjusted.

[0004] It is expected to achieve accurate detection of the position and posture of a moving device. Summary of the invention

[0005] In order to solve the above-mentioned technical problems, the present invention provides a magnetic field transmitter, a posture detection device and a method.

[0006] An embodiment of the present disclosure provides a magnetic field transmitter, which includes: a moving component, which defines a first axis and includes a magnet, and the polarity direction of the magnet is not parallel to the first axis; and a transmission component, which defines a second axis that is not coplanar with the first axis, and the moving component is connected to the transmission component to rotate around the first axis, and the transmission component is used to rotate the moving component around the second axis and to rotate the magnet around the first axis.

[0007] The disclosed embodiment provides a magnetic field transmitter, which realizes the compound movement of a magnet by using a rotating component and a moving component, and then the time-varying magnetic field formed based on the movement of the magnet can be used for detection to calculate the position and posture. The magnetic field formed by the magnetic field transmitter is stable, accurate and easy to use.

[0008] In some embodiments, the magnetic field transmitter further includes a counterweight assembly, which defines a third axis and includes a counterweight body, and the third axis is parallel to the first axis; the counterweight assembly is rotatably connected to the transmission assembly around the third axis, and the transmission assembly is used to rotate the counterweight assembly around the second axis and to rotate the counterweight body around the third axis.

[0009] Such an arrangement enables the moving component to be affected by the counterweight component, and the rotation of the two relative to the transmission component is more stable, and then the magnetic field is more reliable, which helps to improve the detection accuracy that the magnetic field transmitter can help to achieve.

[0010] Exemplarily, the deviation of the rotational inertia of the counterweight body relative to the rotational inertia of the magnet is less than 10% of the rotational inertia of the magnet.

[0011] Such an arrangement can ensure the stability of the movement of the magnet and provide an accurate and reliable magnetic field.

[0012] In some embodiments, the magnetic field transmitter further includes a driving assembly, the driving assembly includes a fixed end and a driving end, and the driving end is dynamically connected to the transmission assembly.

[0013] With such an arrangement, the movement of the transmission component and the moving component can be controlled to ensure that the magnet moves out of the required magnetic field.

[0014] In some embodiments, the magnetic field transmitter further includes an encoder, and the encoder is used to obtain an angle value of the driving end of the driving assembly.

[0015] With this arrangement, the attitude information of the magnet can be obtained timely and accurately by monitoring the drive end through the encoder.

[0016] In some embodiments, the moving component also includes a first bevel gear, which defines a first axis and is fixed to a magnet; wherein the transmission component includes: a second bevel gear, which defines a second axis and is meshed with the first bevel gear; and a connecting plate, which is connected to the second bevel gear and rotates around the second axis, and the connecting plate is connected to the first bevel gear and rotates around the first axis, wherein the driving end is used to drive the connecting plate to rotate.

[0017] In this arrangement, while the connecting plate is used to realize the rotation of the moving assembly, the second bevel gear is used to mesh with the first bevel gear to realize the control of the magnet's posture. The magnet in the magnetic field transmitter realizes stable and precise movement, and the realized magnetic field is used for precise measurement. The magnetic field transmitter provided in the embodiment of the present disclosure has strong structural stability under high-frequency movement, smooth movement and small vibration.

[0018] In some embodiments, the magnetic field transmitter also includes a counterweight assembly, which includes: a third bevel gear defining a third axis, the third bevel gear rotates around the third axis and is connected to the connecting plate and meshes with the second bevel gear, the third axis is parallel to the first axis; and a counterweight body fixed to the third bevel gear, the counterweight body and the magnet are symmetrically arranged on both sides of the second bevel gear along the radial direction.

[0019] Such an arrangement can balance the motion of the transmission component, the moving component and the counterweight component, thereby making the magnetic field stable and reliable, and reducing measurement errors.

[0020] In some embodiments, the helix angle of the first helical gear, the helix angle of the second helical gear, and the helix angle of the third helical gear are all 45°, and the number of teeth of the third helical gear is the same as the number of teeth of the first helical gear.

[0021] With such arrangement, the movement of the counterweight assembly is similar to the movement of the mobile assembly, and the counterweight assembly can be used to better achieve the stability of the mobile assembly relative to the transmission assembly.

[0022] In some embodiments, the polarity direction of the magnet is perpendicular to the first axis.

[0023] With such arrangement, the polarity direction of the magnet can rotate within a vertical plane of the first axis.

[0024] In some embodiments, the transmission assembly also includes a first support plate and a second support plate, the first support plate is fixed to the connecting plate and rotatably connected to the first bevel gear, and the magnet and the first bevel gear are located on both sides of the first support plate along the first axis; the second support plate is fixed to the connecting plate and rotatably connected to the third bevel gear, and the counterweight and the third bevel gear are located on both sides of the second support plate along the third axis.

[0025] With such arrangement, the first support plate can be used to stably support the moving assembly and help ensure the dynamic balance of the magnet; while the second support plate can be used to ensure the balance of the counterweight assembly.

[0026] In some embodiments, a gear ratio of the second helical gear to the first helical gear is a positive integer.

[0027] With such arrangement, after the first bevel gear makes one revolution, its rotation is also a full number of revolutions. Thus, during the continuous revolution of the first bevel gear, the magnetic field per revolution can remain stable, which helps to perform accurate measurements more quickly.

[0028] The disclosed embodiments also provide a posture detection device, comprising: the aforementioned magnetic field transmitter; and a magnetic sensor for obtaining vector information of the magnetic field of a magnet at the position of the magnetic sensor.

[0029] The posture detection device provided in the embodiment of the present disclosure uses a magnetic sensor to measure time-varying magnetic field information, which can be used to accurately confirm the position of the magnetic sensor in space. In addition, the posture detection device can also accurately confirm the posture of the magnetic sensor.

[0030] The magnetic sensor can be fixed to the object to be measured in various ways, and then the position and posture of the magnetic sensor are also the position and posture of the object to be measured.

[0031] The disclosed embodiments also provide a posture detection method, which includes: obtaining the position of a reference point defined by the aforementioned posture detection device in space, the reference point being in a fixed position relative to the second axis; controlling the magnet to rotate around the first axis and around the second axis; obtaining vector information through a magnetic sensor; and in response to the vector information, the position of the magnet relative to the second axis, and the posture of the magnet relative to the second axis, obtaining the position of the magnetic sensor in space relative to the reference point and the posture of the magnetic sensor in space.

[0032] The method for posture detection provided by the embodiment of the present disclosure can accurately obtain the position and posture of the magnetic sensor in space by using the aforementioned posture detection device. The posture detection method provided by the embodiment of the present disclosure can achieve accurate detection by using magnetic field and can be applied to various motion detection needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic structural diagram of a posture detection device provided in an embodiment of the present disclosure;

[0034] Figure 2 Schematic diagram of multiple theoretical postures of a magnet in a posture detection device provided in an embodiment of the present disclosure;

[0035] Figure 3 A schematic block diagram of a posture detection system provided in an embodiment of the present disclosure;

[0036] Figure 4 A schematic flowchart of a posture detection method provided in an embodiment of the present invention.

[0037] Description of reference numerals: 1. moving assembly; 11. magnet; 12. first bevel gear; 13. first connecting shaft; 2. transmission assembly; 21. second bevel gear; 22. connecting plate; 23. first supporting plate; 24. second supporting plate; 25. third supporting plate; 26. fourth supporting plate; 3. counterweight assembly; 31. counterweight body; 32. third bevel gear; 33. second connecting shaft; 4. driving assembly; 41. fixed end; 42. driving end;

[0038] α, first axis; β, second axis; γ, third axis; N, North Pole; S, South Pole; C, polar direction;

[0039] 100. Magnetic field transmitter; 200. Magnetic sensor; 300. Position and posture detection device; 400. Processor; 500. Position and posture detection system. DETAILED DESCRIPTION

[0040] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and understandable, the specific implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the embodiments of the present disclosure. However, the embodiments of the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the embodiments of the present disclosure, so the embodiments of the present disclosure are not limited by the specific examples of the embodiments disclosed below.

[0041] In the description of the embodiments of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "perpendicular", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present disclosure.

[0042] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. Exemplarily, the first support plate may also be referred to as the second support plate, and the second support plate may also be referred to as the first support plate. In the description of the embodiments of the present disclosure, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0044] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a flexible connection, or a rigid connection along at least one direction; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or directly connected with the presence of an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. The terms "installed", "set", "fixed", etc. can be broadly understood as connection. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0045] See also Figure 1 , Figure 1 The posture detection device in the embodiment of the present disclosure is shown. The posture detection device 300 provided in the embodiment of the present disclosure includes a magnetic field transmitter 100 and a magnetic sensor 200. The magnetic field transmitter 100 is used to generate a time-varying magnetic field. Exemplarily, the magnetic field transmitter 100 can be fixed to, for example, a workbench (not shown). The magnetic sensor 200 can be connected to the object to be detected (not shown) by various connection methods, and it moves with the object to be detected, and then the position and posture of the magnetic sensor 200 relative to the magnetic field transmitter 100 in space can continuously change.

[0046] By using the magnetic field information obtained by the magnetic sensor 200, the position of the magnetic sensor 200 relative to the magnetic field transmitter 100 can be accurately confirmed, and then the position of the object being detected relative to the magnetic field transmitter 100 can be confirmed; the overall posture of the magnetic sensor 200 and the object being detected relative to the magnetic field transmitter 100 can also be accurately determined.

[0047] In some embodiments, the posture detection device 300 includes a moving component 1, a transmission component 2, and a magnetic sensor 200. The moving component 1 and the transmission component 2 can be used to form a magnetic field transmitter 100.

[0048] The moving component 1 includes a magnet 11, which has a magnetic field. The magnet 11 may be equivalent to a bar magnet, a U-shaped magnet, or other types of magnets. Then, the external magnetic field of the magnet 11 may also be of different types. The magnet 11 may have a north pole N and a south pole S. In the equivalent magnetic flux lines of the external magnetic field of the magnet 11, the direction of the magnetic flux lines passing through the magnetic poles may be referred to as the polarity direction. For example, Figure 1 As shown, the north pole N and the south pole S may be located on opposite sides of the center of gravity of the magnet 11, and then the magnet 11 has a polarity direction C defined by a first magnetic pole such as the north pole N and a polarity direction C defined by a second magnetic pole such as the south pole S, which coincide on a straight line.

[0049] The moving assembly 1 defines a first axis α. The magnet 11 can be controlled to rotate around the first axis α. The polarity direction C of the magnet 11 is not parallel to the first axis α, or it can be said that the polarity direction C of the magnet 11 crosses the first axis α. As the magnet 11 rotates, the polarity direction C rotates relative to the first axis α, and the north pole N and the south pole S will circle around the first axis α respectively.

[0050] like Figure 1 Combined with Figure 2 As shown, Figure 2 Multiple theoretical postures of the magnet in the embodiments of the present disclosure are shown. In some embodiments, the transmission assembly 2 defines a second axis β. In the XYZ space where the posture detection device 300 is located, and then in the XYZ space where the magnetic field transmitter 100 is located, the second axis β can be set to be roughly parallel to the Z-axis direction. The transmission assembly 2 may include a circular connecting plate 22 to ensure rotation stability; the connecting plate 22 is connected and can drive the magnet 11 to rotate around the second axis β. The first axis α is parallel to the XY plane and perpendicular to the second axis β, and the two are arranged at intervals. The polarity direction C is perpendicular to the first axis α, and the polarity direction C of the magnet 11 is misaligned with the second axis β.

[0051] Figure 2 Four positions that the magnet 11 can be in are shown, and the polarity direction C of the magnet 11 at different positions is shown. After the magnet 11 rotates around the second axis β once, the position and posture of the magnet 11 can return to the original state, and the polarity direction C can rotate an even number of times.

[0052] In general, in the magnetic field transmitter 100 provided in the embodiment of the present disclosure, the second axis β is not coplanar with the first axis α. Specifically, the second axis β is not parallel to the first axis α; then the second axis β and the first axis α have an angle and the two are offset. In other words, the second axis β and the first axis α are spatially intersected.

[0053] The moving component 1 is connected to the transmission component 2 for rotation around the first axis α. The mechanical structure of the transmission component 2 is implemented to rotate the moving component 1 around the second axis β and to rotate the magnet 11 around the first axis α. The magnet 11 realizes a compound motion of rotation and revolution relative to the second axis β. During the movement of the magnet 11, the distance of the north pole N / south pole S relative to the second axis β will change alternately. The time-varying magnetic field generated by the magnet 11 changes in a very subtle way.

[0054] In the posture detection device 300 , the time-varying magnetic field generated by the magnetic field transmitter 100 is conducive to the magnetic sensor 200 obtaining precise data.

[0055] The magnetic sensor 200 may be various magnetic field sensors and combinations thereof, and is used to measure the spatial magnetic field. The magnetic sensor 200 is configured to obtain vector information of the magnetic field of the magnet 11 at the position of the magnetic sensor 200 .

[0056] After the magnetic field transmitter 100 of the posture detection device 300 is set, the actual motion posture of the magnet 11 and the state of the magnetic field in the space can be known. For example, the magnetic sensor 200 at the predetermined position can also be used to assist in correcting the confirmed magnetic field.

[0057] The position and posture detection device provided in the embodiments of the present disclosure can be used in a variety of environments and can be used to accurately detect the position and posture of a moving object in space.

[0058] Exemplarily, the posture detection device 300 further includes a counterweight assembly 3. The counterweight assembly 3 defines a third axis γ and includes a counterweight body 31. The third axis γ is parallel to the first axis α. The counterweight body 31 can rotate around the third axis γ. The counterweight assembly 3 is connected to the transmission assembly 2 for rotation around the third axis γ. The transmission assembly 2 is used to rotate the counterweight assembly 3 around the second axis β and to rotate the counterweight body 31 around the third axis γ.

[0059] The weight 31 has substantially the same mass and similar shape as the magnet 11. Specifically, the deviation of the rotational inertia of the weight 31 relative to the rotational inertia of the magnet 11 is less than 10%, such as less than 5% or less than 1%.

[0060] Exemplarily, a plurality of counterweight assemblies 3 may be used to counterweight the transmission assembly 2 to maintain stable rotation of the moving assembly 1 .

[0061] The counterweight assembly 3 and the moving assembly 1 may be arranged opposite to each other along the radial direction of the second axis β. The counterweight body 31 may be a non-magnetic body to avoid being magnetized by the magnet 11. The magnet 11 may be a permanent magnet. Figure 1 As shown, both the magnet 11 and the counterweight 31 can be spherical, and the spherical magnet 11 can have good dynamic balance performance. The materials of the magnet 11 and the counterweight 31 are different, but they are configured to be similar shapes, and then the volumes can be different. The alloy material density of the counterweight 31 can be selected to be substantially the same as the alloy material density of the magnet 11. Exemplarily, both the magnet 11 and the counterweight 31 can be disc-shaped, ellipsoidal or rod-shaped, etc. The magnet 11 and the counterweight 31 have similar shapes, and the shape of the counterweight 31 can be configured at the same time to control the difference in the moment of inertia of the magnet 11 and the counterweight 31 to be substantially the same. Exemplarily, the magnet 11 and the counterweight 31 have substantially the same mass and substantially the same shape.

[0062] The weight difference between the magnet 11 and the counterweight 31 is less than 10% of the weight of the magnet 11. Exemplarily, the weight of the magnet 11 and the weight of the counterweight 31 may be the same, and the shapes are similar.

[0063] In some embodiments, the posture detection device 300 further includes a driving component 4. The driving component 4 includes a fixed end 41 and a driving end 42. The fixed end 41 can be connected to, for example, a workbench, and the driving end 42 can rotate relative to the fixed end 41. The driving end 42 is dynamically connected to the transmission component 2 to drive the transmission component 2, causing the moving component 1 to rotate around the second axis β and causing the magnet 11 to rotate around the first axis α.

[0064] Exemplarily, the drive assembly 4 may be a motor, the fixed end 41 may be a stator, and the drive end 42 may be a rotor. The axis of the drive end 42, i.e., the rotor, may be arranged along the second axis β. The drive end 42 may also be indirectly connected to the transmission assembly 2 through other power transmission structures.

[0065] In some embodiments, Figure 1 As shown, the moving assembly 1 includes a first bevel gear 12. The first bevel gear 12 defines a first axis α, and the first bevel gear 12 rotates around the first axis α. The magnet 11 can be connected to one side of the first bevel gear 12 along the first axis α. The first bevel gear 12 is fixed to the magnet 11, and can be specifically detachably connected, and the rotation of the first bevel gear 12 can drive the rotation of the magnet 11.

[0066] like Figure 1 As shown, the transmission assembly 2 includes a second bevel gear 21 and a connecting plate 22. The second bevel gear 21 defines a second axis β. The second bevel gear 21 is suitable for being fixed to, for example, a workbench or a base. The connecting plate 22 is rotatably connected to the second bevel gear 21, and the connecting plate 22 can rotate relative to the second bevel gear 21 around the second axis β; the connecting plate 22 is rotatably connected to the first bevel gear 12, and the first bevel gear 12 can rotate relative to the connecting plate 22 around the first axis α. The second bevel gear 21 is meshed with the first bevel gear 12. The driving end 42 is used to drive the connecting plate 22 to rotate.

[0067] When the driving end 42 rotates, the connecting plate 22 rotates around the second axis β relative to the second bevel gear 21, and drives the moving assembly 1 as a whole to realize orbital revolution around the second axis β relative to the second bevel gear 21. Then, since the first bevel gear 12 is meshed with the fixed second bevel gear 21, the first bevel gear 12 passively rotates, and then the magnet 11 realizes the compound motion of orbital revolution and rotation. Because the polarity direction C has an angle with the first axis α, the positions of the North Pole N and the South Pole S are constantly alternating relative to the first axis α, and the polarity direction C rotates around the second axis β, and a time-varying magnetic field is generated in the XYZ space based on the magnet 11. During operation, the first bevel gear 12 is stably meshed with the second bevel gear 21, and the rotation accuracy is high, so that the time-varying magnetic field is stable and the deviation is small.

[0068] Exemplarily, the connecting plate 22 is circular or has other axisymmetric shapes, which helps to keep the center of gravity of the connecting plate 22 located on the second axis β.

[0069] In some embodiments, the counterweight assembly 3 includes a third bevel gear 32 and a counterweight body 31. The counterweight body 31 is fixed to the third bevel gear 32, and may be fixed by a detachable connection to ensure that the counterweight body 31 moves with the movement of the third bevel gear 32.

[0070] The third bevel gear 32 defines the third axis γ, and the third bevel gear 32 is connected to the connecting plate 22 by rotation around the third axis γ. The third bevel gear 32 is meshed with the second bevel gear 21. The counterweight assembly 3 as a whole is arranged opposite to the moving assembly 1 in the vertical plane of the second axis β (roughly parallel to the XY plane) along the radial direction of the second axis β, and the third bevel gear 32 is meshed with the first bevel gear 12 on both sides of the second bevel gear 21. The third bevel gear 32 and the second bevel gear 21 can be stably and accurately meshed; and the third bevel gear 32 and the first bevel gear 12 are both connected to the connecting plate 22 and meshed with the second bevel gear 21 at the same time, and the two are mutually constrained, so that the moving assembly 1 achieves precise positioning and stable posture.

[0071] The third axis γ is parallel to the first axis α. The counterweight 31 and the magnet 11 have substantially the same mass and similar shape, and the counterweight 31 and the magnet 11 are symmetrically arranged on both sides of the second bevel gear 21 in the radial direction. The counterweight assembly 3 and the moving assembly 1 have similar motion characteristics, and the two achieve good dynamic balance as a whole, which helps the magnet 11 to achieve stable movement and generate a reliable magnetic field, and then the posture detection device 300 is used to achieve accurate posture measurement effect.

[0072] Exemplarily, the helical angle of the first bevel gear 12, the helical angle of the second bevel gear 21, and the helical angle of the third bevel gear 32 are all 45°. The first axis α may be perpendicular to the second axis β, and the third axis γ may be perpendicular to the second axis β. The first axis α and the third axis γ may be located at the same height along the Z-axis direction shown in the figure, and the dynamic balance of the posture detection device 300 is better.

[0073] Exemplarily, the number of teeth of the third bevel gear 32 is the same as the number of teeth of the first bevel gear 12, ensuring that the rotation speed of the magnet 11 is the same as the rotation speed of the counterweight 31. Figure 1 As shown, in the exemplary embodiment, the first helical gear 12, the second helical gear 21 and the third helical gear 32 are all left-handed helical gears.

[0074] refer to Figure 2 , the polarity direction C of the magnet 11 is perpendicular to the first axis α. The north pole N and the south pole S of the magnet 11 rotate around the first axis α in the same plane, which can prevent the magnetic field from swinging in the direction of the first axis α.

[0075] In some embodiments, the transmission assembly 2 further includes a first support plate 23. The first support plate 23 is fixed to the connecting plate 22 and is rotatably connected to the first bevel gear 12 around the first axis α. The magnet 11 and the first bevel gear 12 are located on both sides of the first support plate 23 along the first axis α. The first support plate 23 helps to maintain the structural rigidity of the moving assembly 1 and helps to stabilize the magnet 11.

[0076] In some embodiments, the moving assembly 1 further includes a first connecting shaft 13. The first connecting shaft 13 passes through the first support plate 23 along the first axis α, the first bevel gear 12 is sleeved on the first connecting shaft 13, and the magnet 11 is also sleeved on the first connecting shaft 13. The first bevel gear 12 can drive the magnet 11 to rotate synchronously through the first connecting shaft 13. Exemplarily, the first connecting shaft 13 is rotatably connected to the first support plate 23 through a bearing (not shown). By providing the first connecting shaft 13, the assembly of the moving assembly 1 is facilitated.

[0077] In some embodiments, the transmission assembly 2 further includes a second support plate 24. The second support plate 24 is fixed to the connecting plate 22 and is rotatably connected to the third bevel gear 32 around the third axis γ. The counterweight 31 and the third bevel gear 32 are located on both sides of the second support plate 24 along the third axis γ. The second support plate 24 helps to maintain the structural rigidity of the counterweight assembly 3, helps to stabilize the counterweight 31 and then maintain the dynamic balance of the magnet 11.

[0078] In some embodiments, the counterweight assembly further includes a second connecting shaft 33. The second connecting shaft 33 penetrates the second support plate 24 along the third axis γ, the third bevel gear 32 is sleeved on the second connecting shaft 33, and the counterweight body 31 is also sleeved on the second connecting shaft 33. The third bevel gear 32 can drive the counterweight body 31 to rotate synchronously through the second connecting shaft 33. Exemplarily, the second connecting shaft 33 is rotatably connected to the second support plate 24 through a bearing (not shown). By providing the second connecting shaft 33, the assembly of the counterweight assembly 3 is facilitated.

[0079] Exemplarily, the transmission assembly 2 further includes a third support plate 25 and a fourth support plate 26. The third support plate 25 and the first support plate 23 are located on both sides of the first bevel gear 12, and the third support plate 25 and the first support plate 23 can support the first connecting shaft 13, thereby ensuring that the first bevel gear 12 is meshed with the second bevel gear 21. The fourth support plate 26 and the second support plate 24 are located on both sides of the third bevel gear 32, and the fourth support plate 26 and the second support plate 24 can support the second connecting shaft 33, thereby ensuring that the third bevel gear 32 is meshed with the second bevel gear 21.

[0080] Exemplarily, the posture detection device 300 provided in the embodiment of the present disclosure may also include, for example, a clearance eliminating component for eliminating the matching clearance between the moving component 1 and the transmission component 2, or the matching clearance between the counterweight component 3 and the transmission component 2, to ensure the precise rotation of the magnet 11.

[0081] In some embodiments, the first bevel gear 12 may be indirectly connected to the second bevel gear 21 via a transmission mechanism. In some embodiments, the second bevel gear is configured as an internal gear, and thus has a larger pitch circle and a greater number of teeth.

[0082] Exemplarily, the gear ratio of the second bevel gear 21 to the first bevel gear 12 is a positive integer, for example, denoted as K. After the moving assembly 1 rotates one circle around the second axis β, the first bevel gear 12 rotates K circles in a restricted manner, that is, the magnet 11 rotates K circles. Figure 1 and Figure 2 As shown, when the magnet 11 rotates back to the same position around the second axis β, the polarity direction C can maintain the same posture, and a fixed periodic time-varying magnetic field can be achieved. When the revolution speed of the magnet 11 around the second axis β is n, the rotation speed around the first axis α is Kn.

[0083] refer to Figure 3 , the embodiments of the present disclosure provide a posture detection system. In some embodiments, the posture detection system 500 includes a magnetic field transmitter 100, a magnetic sensor 200, and a processor 400. The processor 400 is in communication with the magnetic sensor 200.

[0084] The magnetic field transmitter 100 is used to generate a time-varying magnetic field, and the processor 400 can calculate the position of the magnetic sensor 200 in the three-dimensional space according to the vector information of the time-varying magnetic field measured by the magnetic sensor 200. Exemplarily, the posture detection system 500 also includes a memory (not shown), which can store software programs executable by the processor 400 and can store relevant parameters of the magnetic field transmitter 100.

[0085] Exemplarily, the driving component of the magnetic field transmitter 100 includes an encoder, such as an absolute encoder, which is used to obtain an angle value of a driving end of the driving component.

[0086] In other embodiments, the posture detection device 300 provided in the embodiments of the present disclosure includes a processor that is communicatively connected to the magnetic sensor 200 .

[0087] The magnetic field transmitter 100 provided in the embodiment of the present disclosure can define a reference point, and it can be known that the posture detection device 300 or the posture detection system 500 also defines a reference point. Figure 1 The first axis α and the second axis β are not coplanar, and the specific position of any point can be determined by using these two axes. The reference point in the detection space can be determined based on the first axis α and the second axis β, and an XYZ rectangular coordinate system can be established. Of course, other types of coordinate systems can also be established.

[0088] For example, when the first axis α is vertically projected onto the second axis β, the intersection of the projection and the second axis β is used as the reference point, and then the vertical projection direction is taken as the X-axis direction, the direction parallel to the first axis α is taken as the Y-axis direction, and the direction parallel to the second axis β is taken as the Z-axis direction. The position of any point in space can be indicated by the XYZ coordinate system, and the posture of an object in space can also be a posture relative to the coordinate system.

[0089] For example, the angle between the projection direction of the first axis α projected on the second axis β and the second axis β is an acute angle, and then the intersection of the projections on the second axis β can still be used as the reference point. In other embodiments, a point other than the second axis β can be used as the reference point, and the required coordinate system for marking the three-dimensional space can be calculated and established based on the first axis α and the second axis β.

[0090] When in use, the posture detection device 300 or the posture detection system 500 provided in the embodiments of the present disclosure can describe the position and posture of an object in space according to the coordinate system established above.

[0091] like Figure 4As shown, the embodiment of the present disclosure provides a posture detection method 1000, which includes steps S101 to S104. Exemplarily, the posture detection method 1000 is implemented using the aforementioned posture detection device 300; it can also be implemented using the aforementioned posture detection system 500.

[0092] Step S101, obtaining the position of the reference point defined by the posture detection device 300 in the space. After the posture detection device 300 or the posture detection system 500 is installed in the workspace, the reference point defined by the posture detection device 300 can be confirmed according to actual needs, and then the position of the reference point in the workspace can be obtained.

[0093] Step S102, control the magnet 11 to rotate around the first axis α and around the second axis β. In this way, a time-varying magnetic field B(t) can be generated. The rotation speed of the magnet 11 can be controlled according to a preset value or demand, including the rotation speed and the revolution speed.

[0094] Step S103, obtaining vector information. The vector information may be obtained by each of the at least one magnetic sensor 200. Each magnetic sensor 200 may obtain vector information t1, ..., tn at multiple times, where n is an integer greater than 1.

[0095] Step S104, the position of the magnetic sensor 200 relative to the reference point and the posture of the magnetic sensor 200 relative to the reference point are obtained. The position and posture of the magnetic sensor 200 are described by the coordinate system at the reference point, and the establishment of the coordinate system is related to the structure of the magnetic field transmitter 100 actually used. According to each vector information, according to the position of the magnet 11 relative to the second axis β and the posture of the magnet 11 relative to the second axis β, the position and posture of each corresponding magnetic sensor 200 relative to the reference point in space can be obtained.

[0096] The position of the magnet 11 relative to the second axis β and the posture of the magnet 11 relative to the second axis β can be confirmed and can be calculated based on the actual structure of the posture detection device 300 and the angle value measured by, for example, the driving information of the driving component 4 or the encoder.

[0097] Then, the position and posture of the magnetic sensor can be used as unknown variables, and combined with the simultaneous equations of the actually measured magnetic field, the position information of the magnetic sensor 200 and the posture information of the magnetic sensor 200 can be obtained by using methods such as optimization solution.

[0098] The technical features of the embodiments disclosed above can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0099] In the embodiments disclosed above, unless otherwise clearly specified and limited, the execution order of each step is not limited, for example, it can be executed in parallel, or it can be executed successively in different orders. The sub-steps of each step can also be executed alternately. The above-mentioned various forms of processes can be used, and steps can be reordered, added or deleted, as long as the desired results of the technical solution provided in the embodiment of the present disclosure can be achieved, and this document does not limit it here.

[0100] The embodiments disclosed above only express several implementation methods of the invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection of the invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the invention, and these all belong to the scope of patent protection required by the invention. Therefore, the scope of patent protection of the invention shall be subject to the attached claims.

Claims

1. A magnetic field transmitter, characterized in that: include: A moving assembly (1) defining a first axis (α) and comprising a magnet (11), the polarity direction (C) of the magnet (11) being non-parallel to the first axis (α); and The transmission component (2) defines a second axis (β) that is not coplanar with the first axis (α); the moving component (1) is connected to the transmission component (2) so as to rotate around the first axis (α); the transmission component (2) is used to rotate the moving component (1) around the second axis (β) and to rotate the magnet (11) around the first axis (α).

2. The magnetic field transmitter according to claim 1, characterized in that: Also included is a counterweight assembly (3), the counterweight assembly (3) defining a third axis (γ) and including a counterweight body (31), the third axis (γ) being parallel to the first axis (α); The counterweight assembly (3) is connected to the transmission assembly (2) so as to rotate around the third axis (γ); the transmission assembly (2) is used to rotate the counterweight assembly (3) around the second axis (β) and to rotate the counterweight body (31) around the third axis (γ).

3. The magnetic field transmitter according to claim 1, characterized in that: It also comprises a driving assembly (4), wherein the driving assembly (4) comprises a fixed end (41) and a driving end (42), and the driving end (42) is dynamically connected to the transmission assembly (2).

4. The magnetic field transmitter according to claim 3, characterized in that: It also includes an encoder, which is used to obtain the angle value of the driving end (42) of the driving component (4).

5. The magnetic field transmitter according to claim 3, characterized in that: The moving assembly (1) further comprises a first bevel gear (12), wherein the first bevel gear (12) defines the first axis (α) and the first bevel gear (12) is fixed to the magnet (11); Wherein, the transmission assembly (2) comprises: a second bevel gear (21) defining the second axis (β), the second bevel gear (21) being meshed with the first bevel gear (12); and A connecting plate (22) is connected to the second bevel gear (21) and is rotatable around the second axis (β); the connecting plate (22) is connected to the first bevel gear (12) and is rotatable around the first axis (α); wherein the driving end (42) is used to drive the connecting plate (22) to rotate.

6. The magnetic field transmitter according to claim 5, characterized in that: It also includes a counterweight assembly (3), wherein the counterweight assembly (3) includes: a third bevel gear (32) defining a third axis (γ), the third bevel gear (32) being connected to the connecting plate (22) and meshing with the second bevel gear (21) so as to rotate around the third axis (γ), the third axis (γ) being parallel to the first axis (α); and A counterweight body (31) is fixed to the third bevel gear (32); the counterweight body (31) and the magnet (11) are symmetrically arranged on both sides of the second bevel gear (21) in the radial direction.

7. The magnetic field transmitter according to claim 6, characterized in that: The helical angle of the first helical gear (12), the helical angle of the second helical gear (21) and the helical angle of the third helical gear (32) are all 45°, and the number of teeth of the third helical gear (32) is the same as the number of teeth of the first helical gear (12).

8. The magnetic field transmitter according to claim 7, characterized in that: The polarity direction (C) of the magnet (11) is perpendicular to the first axis (α).

9. The magnetic field transmitter according to claim 7, characterized in that: The transmission assembly (2) further comprises a first support plate (23) and a second support plate (24), The first support plate (23) is fixed to the connecting plate (22) and is rotatably connected to the first bevel gear (12); the magnet (11) and the first bevel gear (12) are located on both sides of the first support plate (23) along the first axis (α); The second support plate (24) is fixed to the connecting plate (22) and rotatably connected to the third bevel gear (32); the counterweight (31) and the third bevel gear (32) are located on both sides of the second support plate (24) along the third axis (γ).

10. The magnetic field transmitter according to claim 5, characterized in that: The gear ratio between the second bevel gear (21) and the first bevel gear (12) is a positive integer.

11. A posture detection device, characterized in that: include: The magnetic field transmitter (100) according to any one of claims 1 to 10; and A magnetic sensor (200) is used to obtain vector information of the magnetic field of the magnet (11) at the position of the magnetic sensor (200).

12. A posture detection method, characterized in that: include: Obtaining a position in space of a reference point defined by the posture detection device (300) according to claim 11, wherein the reference point is in a fixed position relative to the second axis (β); Controlling the magnet (11) to rotate around the first axis (α) and around the second axis (β); obtaining the vector information through the magnetic sensor (200); and The position of the magnetic sensor (200) relative to the reference point in the space and the posture of the magnetic sensor (200) in the space are obtained based on the vector information, the position of the magnet (11) relative to the second axis (β) and the posture of the magnet (11) relative to the second axis (β).

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