Magnetic field transmitter, pose detection device and method

Abstract

The present disclosure relates to a magnetic field transmitter, a pose detection device and a method. The magnetic field transmitter comprises a moving assembly defining a first axis and comprising a magnet, a polarity direction of the magnet being non-parallel to the first axis; and a transmission assembly defining a second axis non-coplanar with the first axis, the moving assembly being rotationally connected to the transmission assembly about the first axis, the transmission assembly being configured to rotate the moving assembly about the second axis and to rotate the magnet about the first axis. The magnetic field transmitter can generate a precisely time-varying magnetic field, which can be used to measure the spatial position and pose of a moving object.

Description

Technical Field

[0001] This disclosure relates to the field of detection device technology, and in particular to a magnetic field transmitter, a posture detection device and method. Background Technology

[0002] To detect the position of moving objects, various methods have been designed. For example, for objects that are difficult to reach, detection can be achieved through image capture combined with algorithms; while for objects that can be reached, direct detection can be performed using sensors.

[0003] For some controlled movements, predictions can be made by measuring the actuators. However, it is difficult to predict the movements of many freely moving objects. For example, position detection of the limbs of athletes or rehabilitation personnel can help determine the movement of the limbs. Similarly, position detection of objects held by the human body, including sports equipment or surgical instruments, can help determine whether the object's position is appropriate and whether adjustments are needed.

[0004] The goal is to achieve accurate detection of the pose of a moving device. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a magnetic field transmitter, a pose detection device, and a method.

[0006] This disclosure provides a magnetic field emitter, comprising: a movable component defining a first axis and including a magnet, the polarity of which is not parallel to the first axis; and a transmission component defining a second axis not coplanar with the first axis, the movable component being rotatably connected to the transmission component about the first axis, the transmission component being used to rotate the movable component about the second axis and to rotate the magnet about the first axis.

[0007] This disclosure provides a magnetic field transmitter that utilizes a rotating component and a moving component to achieve a combined motion of a magnet. The time-varying magnetic field generated by this motion can then be detected for pose calculation. The magnetic field generated by the transmitter is stable, accurate, and easy to use.

[0008] In some embodiments, the magnetic field emitter further includes a counterweight assembly defining a third axis and including a counterweight body, the third axis being parallel to the first axis; the counterweight assembly is rotatably connected to a transmission assembly about the third axis, the transmission assembly being used to rotate the counterweight assembly about a second axis and to rotate the counterweight body about the third axis.

[0009] This configuration allows the moving component to be influenced by the counterweight component, making their rotation relative to the transmission component more stable, thus making the magnetic field more reliable and helping to improve the detection accuracy that the magnetic field transmitter can achieve.

[0010] For example, the deviation of the moment of inertia of the counterweight from the moment of inertia of the magnet is less than 10% of the moment of inertia of the magnet.

[0011] This configuration ensures the stability of the magnet's movement and provides a precise and reliable magnetic field.

[0012] In some embodiments, the magnetic field emitter further includes a drive assembly comprising a fixed end and a drive end, the drive end being poweredly connected to a transmission assembly.

[0013] This configuration allows for control of the movement of the transmission and moving components, ensuring that the magnet moves to produce the required magnetic field.

[0014] In some implementations, the magnetic field transmitter also includes an encoder for obtaining the angle value of the drive end of the drive component.

[0015] With this setup, the encoder can monitor the drive end and obtain the magnet's attitude information in a timely and accurate manner.

[0016] In some embodiments, the moving assembly further includes a first helical gear defining a first axis and fixed to a magnet; wherein the transmission assembly includes: a second helical gear defining a second axis and meshing with the first helical gear; and a connecting plate rotatably connected to the second helical gear about the second axis and rotatably connected to the first helical gear about the first axis, wherein a driving end is used to drive the connecting plate to rotate.

[0017] This configuration allows for the rotation of the moving component via a connecting plate, while the meshing of the second helical gear and the first helical gear controls the magnet's attitude. The magnet in this magnetic field transmitter achieves stable and precise movement, and the generated magnetic field is used for precise measurements. The magnetic field transmitter provided in this embodiment exhibits strong structural stability under high-frequency motion, with smooth movement and minimal vibration.

[0018] In some embodiments, the magnetic field emitter further includes a counterweight assembly comprising: a third helical gear defining a third axis, the third helical gear being rotatably connected to a connecting plate and meshing with a second helical gear about the third axis, the third axis being parallel to the first axis; and a counterweight fixed to the third helical gear, the counterweight and the magnet being symmetrically arranged on both sides of the second helical gear along the radial direction.

[0019] This configuration ensures the balanced movement of the transmission components, moving components, and counterweight components, thereby stabilizing and reliably maintaining the magnetic field and reducing measurement errors.

[0020] In some embodiments, the helix angles of the first helical gear, the second helical gear, and 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 this configuration, the movement of the counterweight component tends to be the same as that of the moving component, and the counterweight component can be used to better achieve the stability of the moving component relative to the transmission component.

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

[0023] With this configuration, the polarity of the magnet can rotate within the plane perpendicular to the first axis.

[0024] In some embodiments, the transmission assembly further 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 helical gear, with the magnet and the first helical gear located on both sides of the first support plate along a first axis. The second support plate is fixed to the connecting plate and rotatably connected to the third helical gear, with the counterweight and the third helical gear located on both sides of the second support plate along a third axis.

[0025] This configuration allows the first support plate to stably support the moving component and help ensure the dynamic balance of the magnet; at the same time, the second support plate ensures the balance of the counterweight component.

[0026] In some implementations, the ratio of the number of teeth of the second helical gear to that of the first helical gear is a positive integer.

[0027] With this configuration, after the first helical gear completes one revolution, its rotation is also an integer number of revolutions. This ensures that the magnetic field remains stable during the continuous revolution of the first helical gear, which helps to make more accurate measurements more quickly.

[0028] This disclosure also provides a pose detection device, including: 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 pose detection device provided in this disclosure utilizes a magnetic sensor to measure time-varying magnetic field information, enabling precise determination of the magnetic sensor's position in space. Furthermore, this pose detection device can also accurately determine the magnetic sensor's orientation.

[0030] Magnetic sensors can be fixed to the object being measured in various ways, and the position and orientation of the magnetic sensor are also the position and orientation of the object being measured.

[0031] This disclosure also provides a pose detection method, which includes: obtaining the position of a reference point defined by the aforementioned pose detection device in space, wherein the reference point is in a fixed position relative to a second axis; controlling a magnet to rotate around a first axis and around a second axis; obtaining vector information through a magnetic sensor; and obtaining the position of the magnetic sensor relative to the reference point in space and the orientation of the magnetic sensor in space in response to the vector information, the position of the magnet relative to the second axis, and the orientation of the magnet relative to the second axis.

[0032] The pose detection method provided in this disclosure, utilizing the aforementioned pose detection device, can accurately obtain the position and orientation of a magnetic sensor in space. The pose detection method provided in this disclosure utilizes a magnetic field to achieve accurate detection and can be applied to various motion detection needs. Attached Figure Description

[0033] Figure 1 A schematic structural diagram of the pose detection device provided in the embodiments of this disclosure;

[0034] Figure 2 A schematic diagram of multiple theoretical postures of the magnet in the pose detection device provided in the embodiments of this disclosure;

[0035] Figure 3 A schematic block diagram of a pose detection system provided for embodiments of this disclosure;

[0036] Figure 4 A schematic flowchart illustrating the pose detection method provided in this embodiment.

[0037] Explanation of reference numerals in the attached drawings: 1. Moving component; 11. Magnet; 12. First helical gear; 13. First connecting shaft; 2. Transmission component; 21. Second helical gear; 22. Connecting plate; 23. First support plate; 24. Second support plate; 25. Third support plate; 26. Fourth support plate; 3. Counterweight component; 31. Counterweight body; 32. Third helical gear; 33. Second connecting shaft; 4. Drive component; 41. Fixed end; 42. Drive end;

[0038] α, First axis; β, Second axis; γ, Third axis; N, North Pole; S, South Pole; C, Polarity direction;

[0039] 100. Magnetic field transmitter; 200. Magnetic sensor; 300. Pose detection device; 400. Processor; 500. Pose detection system. Detailed Implementation

[0040] To make the above-mentioned objects, features, and advantages of the embodiments of this disclosure more apparent and understandable, specific embodiments of the embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this disclosure. However, the embodiments of this disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the embodiments of this disclosure. Therefore, the embodiments of this disclosure are not limited to the specific embodiments disclosed below.

[0041] In the description of the embodiments of this disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing the embodiments of this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this disclosure.

[0042] In this disclosure, unless otherwise explicitly stated and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] Furthermore, the terms "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. For example, a first support plate may also be referred to as a second support plate, and a second support plate may also be referred to as a first support plate. In the description of embodiments of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0044] In this disclosure, unless otherwise explicitly specified and limited, the terms "connected," "linked," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; a flexible connection or a rigid connection along at least one direction; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium, or a direct connection with an intermediate medium present; and they can also refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. The terms "installed," "set," "fixed," etc., can be broadly understood as connection. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0045] See Figure 1 , Figure 1 A pose detection device according to an embodiment of this disclosure is shown. The pose detection device 300 provided in this embodiment includes a magnetic field emitter 100 and a magnetic sensor 200. The magnetic field emitter 100 is used to generate a time-varying magnetic field. Exemplarily, the magnetic field emitter 100 can be fixed to, for example, a worktable (not shown). The magnetic sensor 200 can be connected to the object being detected (not shown) through various connection methods, and it moves with the object being detected, thereby the position and orientation of the magnetic sensor 200 relative to the magnetic field emitter 100 in space can continuously change.

[0046] 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 determined, and thus the position of the object being detected relative to the magnetic field transmitter 100 can also be determined; the overall attitude 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 pose 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 emitter 100.

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

[0049] The movable component 1 defines a first axis α. The magnet 11 can be controlled to rotate about 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 intersects 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 south pole S will respectively circle around the first axis α.

[0050] like Figure 1 and combined Figure 2 As shown, where Figure 2 Several theoretical orientations of the magnet in embodiments of this disclosure are shown. In some embodiments, the transmission assembly 2 defines a second axis β. In the XYZ space where the orientation detection device 300 is located, and consequently, in the XYZ space where the magnetic field emitter 100 is located, the second axis β can be set to be approximately parallel to the Z-axis direction. The transmission assembly 2 may include a circular connecting plate 22 to ensure rotational stability; the connecting plate 22 is connected to and can drive the magnet 11 to rotate about the second axis β. A first axis α is parallel to the XY plane and perpendicular to the second axis β, and the two are spaced apart. The polarity direction C is perpendicular to the first axis α, and the polarity direction C of the magnet 11 is offset from the second axis β.

[0051] Figure 2 The diagram shows four possible positions of magnet 11 and the polarity direction C of magnet 11 at each position. After magnet 11 rotates once around the second axis β, its position and orientation can return to their original state, and the polarity direction C can rotate an even multiple of the number of times.

[0052] In summary, in the magnetic field emitter 100 provided in this embodiment, the second axis β and the first axis α are not coplanar. Specifically, the second axis β and the first axis α are not parallel; furthermore, the second axis β and the first axis α have an angle while being offset from each other. In other words, the second axis β and the first axis α spatially intersect.

[0053] The movable component 1 is rotatably connected to the transmission component 2 about a first axis α. The transmission component 2 is mechanically configured to rotate the movable component 1 about a second axis β and to rotate the magnet 11 about the first axis α. The magnet 11 performs a combined motion of rotation and revolution relative to the second axis β. During the motion of the magnet 11, the distances between the north pole (N) and south pole (S) relative to the second axis β alternate. The time-varying magnetic field generated by the magnet 11 changes in a very subtle manner.

[0054] In the pose detection device 300, the time-varying magnetic field generated by the magnetic field transmitter 100 helps the magnetic sensor 200 obtain precise data.

[0055] The magnetic sensor 200 can be various magnetic field sensors or combinations thereof, used to measure the magnetic field in space. The magnetic sensor 200 is configured to obtain vector information of the magnetic field of the magnet 11 at the location of the magnetic sensor 200.

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

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

[0058] Exemplarily, the pose 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 is rotatable about the third axis γ. The counterweight assembly 3 is rotatably connected to a transmission assembly 2 about the third axis γ. The transmission assembly 2 is used to rotate the counterweight assembly 3 about a second axis β and to rotate the counterweight body 31 about the third axis γ.

[0059] The counterweight 31 has a substantially identical mass and a similar shape to the magnet 11. Specifically, the deviation of the moment of inertia of the counterweight 31 from the moment of inertia of the magnet 11 is less than 10% of the moment of inertia of the magnet 11, for example, less than 5% or less than 1%.

[0060] For example, multiple counterweight components 3 can be used to counterweight the transmission component 2 in order to maintain the stable rotation of the moving component 1.

[0061] The counterweight assembly 3 and the moving assembly 1 can be arranged radially opposite each other along the second axis β. The counterweight 31 can be a non-magnetic material to avoid being magnetized by the magnet 11. The magnet 11 can be a permanent magnet. Figure 1 As shown, both magnet 11 and counterweight 31 can be spherical, and a spherical magnet 11 can have better dynamic balance performance. Magnet 11 and counterweight 31 are made of different materials but are configured with similar shapes, thus their volumes can differ. The alloy material density of counterweight 31 can be substantially the same as that of the alloy material of magnet 11. Exemplarily, both magnet 11 and counterweight 31 can be disk-shaped, ellipsoidal, or rod-shaped, etc. Magnet 11 and counterweight 31 have similar shapes, and the shape of counterweight 31 can be configured to control the difference in rotational inertia between magnet 11 and counterweight 31 to be substantially the same. Exemplarily, magnet 11 and counterweight 31 have substantially the same mass and substantially the same shape.

[0062] The weight difference between magnet 11 and counterweight 31 is less than 10% of the weight of magnet 11. For example, the weight of magnet 11 and counterweight 31 can be the same, and their shapes can be similar.

[0063] In some embodiments, the pose detection device 300 further includes a drive assembly 4. The drive assembly 4 includes a fixed end 41 and a drive end 42. The fixed end 41 may be connected to, for example, a worktable, and the drive end 42 may rotate relative to the fixed end 41. The drive end 42 is poweredly connected to the transmission assembly 2 to drive the transmission assembly 2, causing the moving assembly 1 to rotate about a second axis β and causing the magnet 11 to rotate about a first axis α.

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

[0065] In some implementations, such as Figure 1 As shown, the movable component 1 includes a first helical gear 12. The first helical gear 12 defines a first axis α, and the first helical gear 12 rotates about the first axis α. The magnet 11 can be connected to one side of the first helical gear 12 along the first axis α. The first helical gear 12 is fixed to the magnet 11, specifically it can be detachably connected, and the rotation of the first helical gear 12 can drive the rotation of the magnet 11.

[0066] like Figure 1 As shown, the transmission assembly 2 includes a second helical gear 21 and a connecting plate 22. The second helical gear 21 defines a second axis β. The second helical gear 21 is adapted to be fixed to, for example, a worktable or base. The connecting plate 22 is rotatably connected to the second helical gear 21, and the connecting plate 22 is rotatably connected to a first helical gear 12, and the first helical gear 12 is rotatably connected to the connecting plate 22 about a first axis α. The second helical gear 21 meshes with the first helical gear 12. The drive end 42 is used to drive the connecting plate 22 to rotate.

[0067] When the drive end 42 rotates, the connecting plate 22 rotates relative to the second helical gear 21 around the second axis β, and drives the entire moving assembly 1 to revolve around the second axis β relative to the second helical gear 21. Subsequently, since the first helical gear 12 meshes with the fixed second helical gear 21, the first helical gear 12 passively rotates, thus the magnet 11 achieves a combined motion of revolution and rotation. Because the polarity direction C has an angle with the first axis α, the positions of the north pole N and south pole S continuously alternate relative to the first axis α, and the polarity direction C rotates around the second axis β, generating a time-varying magnetic field in the XYZ space based on the magnet 11. During operation, the meshing of the first helical gear 12 and the second helical gear 21 is stable, with high rotational accuracy, resulting in a stable time-varying magnetic field with small deviations.

[0068] For example, the connecting plate 22 is circular or other axisymmetric shape, 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 helical gear 32 and a counterweight 31. The counterweight 31 is fixed to the third helical gear 32, which can be fixed by a detachable connection to ensure that the counterweight 31 moves with the movement of the third helical gear 32.

[0070] The third helical gear 32 defines the third axis γ and is rotatably connected to the connecting plate 22 about the third axis γ. The third helical gear 32 meshes with the second helical gear 21. The counterweight assembly 3 and the moving assembly 1 are arranged radially opposite each other in the plane perpendicular to the second axis β (approximately parallel to the XY plane). The third helical gear 32 meshes with the first helical gear 12 on both sides of the second helical gear 21. The third helical gear 32 and the second helical gear 21 can achieve stable and precise meshing; moreover, the third helical gear 32 and the first helical gear 12 are simultaneously connected to the connecting plate 22 and simultaneously meshed with the second helical gear 21, and the two constrain each other, 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 essentially the same mass and similar shape, and are symmetrically arranged on both sides of the second helical gear 21 along the radial direction. The counterweight assembly 3 and the moving assembly 1 have similar motion characteristics, and the two as a whole achieve good dynamic balance, which helps the magnet 11 to achieve stable movement and generate a reliable magnetic field. Subsequently, the posture detection device 300 is used to achieve accurate posture measurement.

[0072] For example, the helix angles of the first helical gear 12, the second helical gear 21, and the third helical gear 32 are all 45°. The first axis α can be perpendicular to the second axis β, and the third axis γ can be perpendicular to the second axis β. The first axis α and the third axis γ can be located at the same height along the Z-axis direction shown in the figure, resulting in good dynamic balance of the pose detection device 300.

[0073] For example, the third helical gear 32 has the same number of teeth as the first helical gear 12, ensuring that the rotational speed of the magnet 11 is the same as the rotational speed of the counterweight 31. Figure 1 As shown, in an 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 C of magnet 11 is perpendicular to the first axis α. The north pole N and south pole S of magnet 11 rotate in the same plane around the first axis α, which can prevent the magnetic field from oscillating along 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 rotatably connected to the first helical gear 12 about a first axis α. The magnet 11 and the first helical gear 12 are located on both sides of the first support plate 23 along the first axis α. The first support plate 23 helps maintain the structural rigidity of the moving assembly 1 and helps stabilize the magnet 11.

[0076] In some embodiments, the movable component 1 further includes a first connecting shaft 13. The first connecting shaft 13 extends through the first support plate 23 along the first axis α, and a first helical gear 12 is sleeved on the first connecting shaft 13, as is the magnet 11. The first helical gear 12 can drive the magnet 11 to rotate synchronously via the first connecting shaft 13. Exemplarily, the first connecting shaft 13 is rotatably connected to the first support plate 23 via a bearing (not shown). By providing the first connecting shaft 13, the assembly of the movable component 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 rotatably connected to the third helical gear 32 about a third axis γ. The counterweight 31 and the third helical gear 32 are located on both sides of the second support plate 24 along the third axis γ. The second support plate 24 helps maintain the structural rigidity of the counterweight assembly 3 and helps stabilize the counterweight 31, thereby maintaining 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 passes through the second support plate 24 along a third axis γ, and a third helical gear 32 is sleeved on the second connecting shaft 33. The counterweight 31 is also sleeved on the second connecting shaft 33. The third helical gear 32 can drive the counterweight 31 to rotate synchronously via the second connecting shaft 33. Exemplarily, the second connecting shaft 33 is rotatably connected to the second support plate 24 via a bearing (not shown). The second connecting shaft 33 facilitates the assembly of the counterweight assembly 3.

[0079] For example, 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 helical 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 helical gear 12 meshes with the second helical gear 21. The fourth support plate 26 and the second support plate 24 are located on both sides of the third helical 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 helical gear 32 meshes with the second helical gear 21.

[0080] For example, the pose detection device 300 provided in this embodiment may also include, for example, a gap elimination component to eliminate the gap between the moving component 1 and the transmission component 2, or the gap between the counterweight component 3 and the transmission component 2, so as to ensure that the magnet 11 rotates precisely.

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

[0082] For example, the tooth ratio of the second helical gear 21 to the first helical gear 12 is a positive integer, for example, denoted as K. After the moving component 1 rotates one revolution around the second axis β, the first helical gear 12 rotates K revolutions, that is, the magnet 11 rotates K revolutions. Figure 1 and Figure 2 As shown, when magnet 11 rotates back to the same position around the second axis β, the polarity direction C can maintain the same orientation, thus realizing a fixed periodic time-varying magnetic field. When the orbital speed of magnet 11 around the second axis β is n, its rotational speed around the first axis α is Kn.

[0083] refer to Figure 3 This disclosure provides a pose detection system. In some embodiments, the pose detection system 500 includes a magnetic field transmitter 100, a magnetic sensor 200, and a processor 400. The processor 400 is communicatively connected to the magnetic sensor 200.

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

[0085] For example, the drive component of the magnetic field transmitter 100 includes an encoder, such as an absolute encoder. The encoder is used to obtain the angle value of the drive end of the drive component.

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

[0087] The magnetic field emitter 100 provided in this embodiment can define a reference point, and therefore the pose detection device 300 or pose detection system 500 also defines the reference point. (See reference...) Figure 1 The first axis α and the second axis β are not coplanar, and the specific location of any point can be determined using these two axes. A 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 projected perpendicularly onto the second axis β, the intersection of its projection and the second axis β is used as a reference point. Then, the perpendicular 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 using this XYZ coordinate system, and the posture of an object in space can also be the posture relative to this coordinate system.

[0089] For example, the angle between the projection direction of the first axis α onto the second axis β and the second axis β is acute, and 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 the pose detection device 300 or pose detection system 500 provided in this embodiment is used, it can describe the position and posture of an object in space according to the coordinate system established above.

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

[0092] Step S101: Obtain the position of the reference point defined by the pose detection device 300 in the space. After installing the pose detection device 300 or the pose detection system 500 into the workspace, the reference point defined by the pose 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] In step S102, the magnet 11 is controlled to rotate around the first axis α and around the second axis β. This generates a time-varying magnetic field B(t). The rotational speed of the magnet 11, including its rotational speed and revolution speed, can be controlled according to preset values ​​or requirements.

[0094] Step S103: Obtain vector information. Vector information can be obtained through each of at least one magnetic sensor 200. Each magnetic sensor 200 can obtain vector information t1, ..., tn at multiple times, where n is an integer greater than 1.

[0095] Step S104: Obtain the position and orientation of the magnetic sensor 200 relative to the reference point. The position and orientation of the magnetic sensor 200 are described by a coordinate system at the reference point, and the establishment of this coordinate system is related to the structure of the actual magnetic field transmitter 100. Based on each vector information, and based on the position and orientation of the magnet 11 relative to the second axis β, the position and orientation of each magnetic sensor 200 relative to the reference point in space can be obtained.

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

[0097] Then, by using the position and attitude of the magnetic sensor as unknowns and combining them with the simultaneous equations of the actual measured magnetic field, the position information and attitude information of the magnetic sensor 200 can be obtained by using optimization methods.

[0098] The technical features of the above-disclosed embodiments can be combined in any way. For the sake of brevity, 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 explicitly specified and limited, the execution order of each step is not restricted. For example, they can be executed in parallel or sequentially in different orders. The sub-steps of each step can also be executed alternately. Various forms of processes described above can be used, and steps can be reordered, added, or deleted, as long as the desired result of the technical solution provided by the embodiments of this disclosure can be achieved, and no limitations are imposed herein.

[0100] The embodiments disclosed above merely illustrate several implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection for the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of patent protection claimed by the present invention. Therefore, the scope of patent protection for the present invention should be determined by the appended claims.

Claims

1. A magnetic field transmitter, characterized in that, include: A movable component (1) defining a first axis (α) and including a magnet (11) whose polarity direction (C) is not parallel to the first axis (α); and The transmission assembly (2) defines a second axis (β) that is not coplanar with the first axis (α). The moving assembly (1) is rotatably connected to the transmission assembly (2) about the first axis (α). The transmission assembly (2) is used to cause the moving assembly (1) to rotate about the second axis (β) and to cause the magnet (11) to rotate about the first axis (α).

2. The magnetic field transmitter according to claim 1, characterized in that, It also includes a counterweight assembly (3) that defines a third axis (γ) and includes a counterweight body (31) that is parallel to the first axis (α). The counterweight assembly (3) is rotatably connected to the transmission assembly (2) about the third axis (γ). The transmission assembly (2) is used to make the counterweight assembly (3) rotate about the second axis (β) and to make the counterweight (31) rotate about the third axis (γ).

3. The magnetic field transmitter according to claim 1, characterized in that, It also includes a drive assembly (4), which includes a fixed end (41) and a drive end (42), the drive end (42) being poweredly connected to the transmission assembly (2).

4. The magnetic field transmitter according to claim 3, characterized in that, It also includes an encoder for obtaining the angle value of the drive end (42) of the drive component (4).

5. The magnetic field transmitter according to claim 3, characterized in that, The moving component (1) further includes a first helical gear (12), which defines the first axis (α) and is fixed to the magnet (11); The transmission assembly (2) includes: A second helical gear (21) defines the second axis (β), and the second helical gear (21) meshes with the first helical gear (12); and A connecting plate (22) is rotatably connected to the second helical gear (21) about the second axis (β), and the connecting plate (22) is rotatably connected to the first helical gear (12) about 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), which comprises: A third helical gear (32) defines a third axis (γ), the third helical gear (32) being rotatably connected to the connecting plate (22) and meshing with the second helical gear (21) about the third axis (γ), the third axis (γ) being parallel to the first axis (α); and A counterweight (31) is fixed to the third helical gear (32). The counterweight (31) and the magnet (11) are symmetrically arranged on both sides of the second helical gear (21) along the radial direction.

7. The magnetic field transmitter according to claim 6, characterized in that, The helix angle of the first helical gear (12), the helix angle of the second helical gear (21) and the helix 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 (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 includes a first support plate (23) and a second support plate (24). The first support plate (23) is fixed to the connecting plate (22) and rotatably connected to the first helical gear (12). The magnet (11) and the first helical 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 helical gear (32). The counterweight (31) and the third helical 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 ratio of the number of teeth of the second helical gear (21) to that of the first helical gear (12) is a positive integer.

11. A pose detection device, characterized in that, include: The magnetic field transmitter (100) as described in 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 location of the magnetic sensor (200).

12. A pose detection method, characterized in that, include: The position of the reference point defined by the pose detection device (300) as described in claim 11 in space is obtained, wherein the reference point is in a fixed position relative to the second axis (β); The magnet (11) is controlled to rotate about the first axis (α) and about the second axis (β); The vector information is obtained through the magnetic sensor (200); and Based on the vector information, the position of the magnet (11) relative to the second axis (β) and the attitude of the magnet (11) relative to the second axis (β), the position of the magnetic sensor (200) relative to the reference point in the space and the attitude of the magnetic sensor (200) in the space are obtained.

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