Magnetic attraction state detection method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a magnetic attraction state detection method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that under the condition that a power-on signal for an electromagnet in a magnetic attraction device is obtained, the initial current of the electromagnet when the electromagnet is not powered on is determined; electrifying the electromagnet according to the electrifying signal; if the power-on duration of the electromagnet reaches the preset duration, electromagnet current of the electromagnet is acquired; and determining that the magnetic attraction device is in an attraction state under the condition that the current of the electromagnet meets the attraction condition. By adopting the method, the detection cost can be reduced.

Description

Technical Field

[0001] This application relates to the field of machining technology, and in particular, to a magnetic adsorption state detection method, device, computer device, computer-readable storage medium, and computer program product. Background Art

[0002] In the field of machining technology, to ensure the stability and flexibility of the magnetic adsorption device during operation, the magnetic adsorption device can be fixed at a preset position by magnetic force. For example, for a magnetic drill, the magnetic drill can be fixed on a steel plate by a permanent magnet or an electromagnet, so as to realize drilling operations in multiple directions such as horizontal, vertical, and inverted suspension.

[0003] In the traditional technology, to ensure the normal operation of the magnetic adsorption device during operation, a gravity sensor can be installed between the magnetic adsorption device and the steel plate, and the degree of suction between the magnetic adsorption device and the steel plate can be determined based on the gravity data fed back by the sensor, so as to determine the magnetic adsorption state of the magnetic adsorption device.

[0004] However, the gravity detection scheme can only detect the situation where both the device and the steel plate are in a horizontal position. When in the vertical or inverted suspension state, an angle sensor is needed, resulting in a high detection cost. Summary of the Invention

[0005] Based on this, in view of the above technical problems, it is necessary to provide a magnetic adsorption state detection method, device, computer device, computer-readable storage medium, and computer program product that can reduce the detection cost.

[0006] In a first aspect, this application provides a magnetic adsorption state detection method, including:

[0007] When an energization signal for the electromagnet in the magnetic adsorption device is obtained, determining the initial current of the electromagnet when it is not energized;

[0008] Energizing the electromagnet according to the energization signal;

[0009] If the energization duration of the electromagnet reaches a preset duration, collecting the electromagnet current of the electromagnet;

[0010] When the electromagnet current meets the suction condition, determining that the magnetic adsorption device is in the suction state.

[0011] In one embodiment, the magnetic adsorption device includes a magnetic drill; the method further includes:

[0012] Based on the respective mapped positions of the bottom plate and the drill bit in the magnetic drill on the plane where the adsorption device is located, determining the minimum adsorption size of the adsorption device corresponding to the magnetic drill;

[0013] During the process of the adsorption device corresponding to the minimum adsorption size being electrically attracted to the electromagnet, determine the initial conduction current and saturation current of the electromagnet;

[0014] Conduct statistical analysis on the initial conduction current and the saturation current to determine the current threshold and the attraction condition characterized by the current threshold.

[0015] In one embodiment, the step of collecting the electromagnet current of the electromagnet when the power-on duration of the electromagnet reaches a preset duration includes:

[0016] If the power-on duration of the electromagnet reaches the first preset duration, collect the first current of the electromagnet; the first preset duration is less than the saturation duration required for the electromagnet to reach the current saturation state;

[0017] The step of determining that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition includes:

[0018] When the current difference between the initial current and the first current meets the attraction condition, determine that the magnetic attraction state of the magnetic drill during the current rising period is the attracted state.

[0019] In one embodiment, the step of collecting the electromagnet current of the electromagnet when the power-on duration of the electromagnet reaches a preset duration includes:

[0020] If the power-on duration of the electromagnet reaches the second preset duration, collect the second current of the electromagnet; the second preset duration is greater than the saturation duration;

[0021] Collect the third current of the electromagnet at the current moment;

[0022] The step of determining that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition includes:

[0023] Based on the second current, determine the reference current at the current moment;

[0024] When the current difference between the third current and the reference current meets the attraction condition, determine that the magnetic attraction state of the magnetic drill during the current saturation period is the attracted state.

[0025] In one embodiment, the step of determining the reference current at the current moment based on the second current includes:

[0026] When the number of the second currents is one, determine the second current as the reference current at the current moment;

[0027] When the number of the second currents is multiple, the maximum current among the second currents is determined as the reference current at the current moment.

[0028] In one embodiment, the method further includes:

[0029] When the electromagnet current does not meet the attraction condition, it is determined that the magnetic attraction device is in a separated state;

[0030] The drill protection function of the magnetic attraction device is turned on.

[0031] In a second aspect, the present application further provides a magnetic attraction state detection device, including:

[0032] An initial current determination module, configured to determine the initial current of the electromagnet when not powered on when an electrifying signal for the electromagnet in the magnetic attraction device is obtained;

[0033] An electrifying module, configured to power on the electromagnet according to the electrifying signal;

[0034] A current acquisition module, configured to acquire the electromagnet current of the electromagnet if the electrifying duration of the electromagnet reaches a preset duration;

[0035] A state determination module, configured to determine that the magnetic attraction device is in an attracted state when the electromagnet current meets the attraction condition.

[0036] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the method described above are implemented.

[0037] In a fourth aspect, the present application further provides a computer-readable storage medium. On the computer-readable storage medium, a computer program is stored, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0038] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0039] The above magnetic attraction state detection method, device, computer device, computer-readable storage medium, and computer program product, when obtaining a power-on signal for the electromagnet in the magnetic attraction device, determine the initial current of the electromagnet when it is not powered on to determine the initial current situation of the electromagnet when it is not powered on, power on the electromagnet according to the power-on signal. If the power-on duration of the electromagnet reaches a preset duration, the electromagnet current of the electromagnet can be collected, and the current situation of the electromagnet when the power-on reaches the preset duration can be determined. Since the current change situations corresponding to the electromagnet in the attracted state and the separated state are different, it is possible to determine that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition. Using the above method to detect the magnetic attraction state avoids the high cost problem caused by using multiple types of sensors for state detection. Description of the Drawings

[0040] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments of the present application or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0041] Figure 1 It is an application environment diagram of the magnetic attraction state detection method in an embodiment;

[0042] Figure 2 It is a flowchart of the magnetic attraction state detection method in an embodiment;

[0043] Figure 3 It is a schematic structural diagram of a magnetic drill in an embodiment;

[0044] Figure 4 It is a current change diagram of the current rising period when the electromagnet is away from the bottom plate in an embodiment;

[0045] Figure 5 It is a current change diagram of the current rising period when the electromagnet is in small-area contact with the steel in an embodiment;

[0046] Figure 6 It is a current change diagram of the current rising period when the electromagnet is in full contact with the steel in an embodiment;

[0047] Figure 7 It is a flowchart of the attraction state detection method in an embodiment;

[0048] Figure 8 It is a current change diagram when the electromagnet is attracted to the adsorption device and then the two are separated in an embodiment;

[0049] Figure 9The figure shows the current change when the electromagnet and the adsorption device are not in contact in an embodiment and then the two are combined after the electromagnet is energized.

[0050] Figure 10 The figure is a schematic flowchart of the magnetic adsorption state detection step in an embodiment.

[0051] Figure 11 The figure is a schematic flowchart of the magnetic adsorption state detection step in another embodiment.

[0052] Figure 12 The figure is a schematic flowchart of the magnetic adsorption state detection method in another embodiment.

[0053] Figure 13 The figure is a structural block diagram of the magnetic adsorption state detection device in an embodiment.

[0054] Figure 14 The figure is an internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0055] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0056] The magnetic adsorption state detection method provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or can be placed on the cloud or other network servers. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. The portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. Specifically, in the process of detecting the magnetic attraction state of the server 104, when an energization signal for the electromagnet in the magnetic attraction device is obtained from the terminal 102, the initial current of the electromagnet when it is not energized is determined; the electromagnet is energized according to the energization signal; if the energization duration of the electromagnet reaches a preset duration, the electromagnet current of the electromagnet is collected; when the electromagnet current meets the attraction condition, it is determined that the magnetic attraction device is in the attracted state.

[0057] In an exemplary embodiment, as Figure 2 shown, a magnetic attraction state detection method is provided. Taking the server 104 in Figure 1 as an example for illustration, it includes the following steps S202 to step S208. Among them:

[0058] Step S202, when an energization signal for the electromagnet in the magnetic attraction device is obtained, determine the initial current of the electromagnet when it is not energized.

[0059] Among them, the magnetic attraction device is a device that uses the magnetic force principle to realize the adsorption, fixation or connection of objects. Specifically in this application, the magnetic attraction device can be, for example, a magnetic drill, a magnetic lamp holder, etc., all of which are fixed through the magnetic force principle. Among them, the electromagnet is mainly composed of an iron core and a conductive winding wound around the outside of the iron core. Such a coil with current flowing through it has magnetism like a magnet. The energization signal of the electromagnet refers to the current or voltage signal that controls the operation of the electromagnet. The initial current refers to the current value passing through the electromagnet when the electromagnet is not energized. It can be understood that the initial current is generally 0.

[0060] Specifically, in order to detect the magnetic attraction state of the magnetic attraction device through current changes, it is necessary to first determine the initial current of the electromagnet when it is not powered on, so as to facilitate subsequent comparison of current changes. Therefore, when an electrifying signal for the electromagnet in the magnetic attraction device is obtained, the initial current of the electromagnet when it is not powered on can be determined. Exemplarily, the operation of obtaining the electrifying signal for the electromagnet in the magnetic attraction device can be active acquisition or passive reception.

[0061] Step S204: Power on the electromagnet according to the electrifying signal.

[0062] Specifically, after determining the initial current of the electromagnet when it is not powered on, the electromagnet can be powered on according to the electrifying signal, so that the current in the electromagnet changes, facilitating the subsequent current detection process.

[0063] Step S206: If the power-on duration of the electromagnet reaches the preset duration, collect the electromagnet current of the electromagnet.

[0064] Among them, the preset duration refers to the duration set in advance. In this embodiment, the preset duration can be set according to historical experience and actual conditions. The electromagnet current is the current corresponding to the electromagnet when the power-on reaches the preset duration.

[0065] Specifically, after the electromagnet is powered on, the current in the electromagnet will gradually increase until it reaches saturation. Moreover, since the electromagnet is composed of a coil and an iron core, when the materials of the coil and the iron core remain unchanged, the larger the mass of the iron core, the larger its inductance. Therefore, according to Faraday's law of electromagnetic induction and Lenz's law (the following formula), it can be obtained that the contact between the electromagnet and the adsorption device is equivalent to increasing the mass of the iron core, L increases accordingly, and at this time the change rate of the current will slow down. Thus, it is possible to judge whether the electromagnet is attracted to the adsorption device and the degree of attraction by the current rising rate when the electromagnet is turned on or the falling speed when it is turned off. That is, when the power-on duration of the electromagnet reaches the preset duration, the electromagnet current of the electromagnet can be collected, and the subsequent magnetic attraction state can be judged according to the electromagnet current.

[0066]

[0067]

[0068] Among them, i is the current flowing through the electromagnet, and its maximum value is determined by the internal resistance of the coil. u is the power supply voltage of the electromagnet. When u remains unchanged, the larger L is, the smaller di / dt is, that is, the longer the time required for the same current increment. Regarding di / dt as the current change speed.

[0069] In some specific embodiments, after the electromagnet is powered on, the current in the electromagnet will gradually increase until it reaches saturation. If the magnetic attraction state of the electromagnet changes subsequently, the current will fluctuate. Therefore, the processes and durations of detecting the magnetic attraction states of the electromagnet during the current climbing period and the current saturation period are different. That is, different detection methods can be used to detect the magnetic attraction states of the magnetic attraction device during the current climbing period and the current saturation period respectively.

[0070] Step S208: When the electromagnet current meets the attraction condition, determine that the magnetic attraction device is in the attracted state.

[0071] Among them, the attraction condition refers to the condition satisfied for the attraction between the electromagnet and the adsorption device. The attracted state refers to the state where the magnetic attraction device is attracted to the adsorption device.

[0072] Specifically, when the electromagnet current of the electromagnet is obtained, the electromagnet current can be judged. If the electromagnet current meets the attraction condition, it can be determined that the magnetic attraction device is in the attracted state. It can be understood that if the electromagnet current does not meet the attraction condition, it can be determined that the magnetic attraction device is in the separated state. Optionally, for the electromagnet during the current climbing period and the current saturation period, the attraction condition can be determined respectively based on the change rate and fluctuation of the electromagnet current, and the subsequent attracted state judgment can be carried out.

[0073] In the above magnetic attraction state detection method, when the power-on signal for the electromagnet in the magnetic attraction device is obtained, the initial current of the electromagnet when it is not powered on is determined to determine the initial current situation of the electromagnet when it is not powered on. The electromagnet is powered on according to the power-on signal. If the power-on duration of the electromagnet reaches the preset duration, the electromagnet current of the electromagnet is collected, and the current situation of the electromagnet when the power-on reaches the preset duration can be determined. Since the corresponding current change situations of the electromagnet in the attracted state and the separated state are different, it can be determined that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition. Using the above method to detect the magnetic attraction state avoids the high cost problem caused by using multiple types of sensors for state detection.

[0074] In an exemplary embodiment, the magnetic attraction device includes a magnetic drill; the method further includes: determining the minimum adsorption size of the adsorption device corresponding to the magnetic drill based on the respective mapping positions of the base plate and the drill bit in the magnetic drill on the plane where the adsorption device is located; during the process of the adsorption device corresponding to the minimum adsorption size being attracted and powered on by the electromagnet, determining the initial conduction current and the saturation current of the electromagnet; performing statistical analysis on the initial conduction current and the saturation current to determine the current threshold and the attraction condition characterized by the current threshold.

[0075] Among them, the magnetic drill, also known as a magnetic base drill, magnet drill, magnetic electric drill, etc., is an instrument and equipment that uses the magnetic principle for drilling. For exampleFigure 3 As shown in the figure, the main components of the magnetic drill are the drill bit and the base plate. Specifically, the magnetic drill also includes an "operation panel" which is required to control start / stop, adjust the rotation speed, direction, etc. Most importantly, the magnet adsorption state needs to be indicated using this panel. The indication method of adsorption can be through the display change of the indicator light, the prompt information on the display screen, etc. If adsorption failure is detected during the working process, drilling will be immediately stopped to ensure safety.

[0076] The base plate contains an electromagnet and can be placed on the working surface. When the base plate contacts the working surface, due to the magnetic interaction between the magnetic steel and the base plate, the drill bit will be adsorbed on the working surface, maintaining a stable position. When powered on, the magnetic drill generates a magnetic force of thousands of kilograms through the electromagnetic effect, enabling it to be adsorbed on steel plates and structural components, playing a role in fixing the machine.

[0077] The adsorption device refers to a device that can be adsorbed and attached. In this embodiment, the adsorption device refers to a steel plate that the base plate can adsorb. The mapping position refers to mapping the distribution of a certain physical quantity in space to a specific position or area. In this embodiment, the mapping position refers to the respective mapping positions of the base plate and the drill bit on the plane where the adsorption device is located. The initial conduction current refers to the current when the electromagnet is just turned on, and the saturation current refers to the stable current after the current of the electromagnet reaches saturation. The current threshold refers to a preset value used to judge the magnetic adsorption state, and the adsorption condition can be characterized by the current threshold.

[0078] Specifically, in order to improve the accuracy of magnetic adsorption state detection, the respective mapping positions of the base plate and the drill bit in the magnetic drill on the plane where the adsorption device is located can be determined first, so as to determine the minimum adsorption size of the adsorption device corresponding to the magnetic drill according to the above mapping positions, ensuring that the adsorption device with the obtained minimum adsorption size can cover the entire mapping plane of the magnetic drill. After that, during the process of the adsorption device corresponding to the minimum adsorption size being electrified and adsorbed by the electromagnet, the initial conduction current and saturation current of the electromagnet can be determined, and statistical analysis can be performed on the initial conduction current and saturation current to determine the current threshold and the adsorption condition characterized by the current threshold.

[0079] In some specific embodiments, as Figure 4 shown, it is the current change diagram during the current rising period when the electromagnet is far from the base plate. The current takes 0.8 ms to increase from 0 to 150 mA. Point x is the initial current of the electromagnet, point y is the current of the electromagnet during the rising period, and point y can be the current collected at the first preset time duration. Point z is the saturation current. As Figure 5 shown, it is the current change diagram during the current rising period when the electromagnet is in small-area contact with the steel. The current takes less than 2 ms to increase from 0 A to 150 mA. As Figure 6As shown, it is a graph of current change during the current rise period when the electromagnet is in full contact with the steel. The current takes 3.5 ms to increase from 0 A to 150 mA. From the above diagram, it can be determined that the current change conditions corresponding to the electromagnet in the separated state and the attracted state are different. Therefore, a current threshold can be determined to characterize the attraction condition. That is, when the current of the electromagnet collected has not reached the current threshold, it is determined that the magnetic attraction device is in the attracted state; when the current of the electromagnet has reached the current threshold, it is determined that the magnetic attraction device is in the separated state.

[0080] Exemplarily, the above method of statistically analyzing the initial conduction current and the saturation current to determine the current threshold is as follows: The current threshold is less than the value when the electromagnet is saturated and conducting, and is adjusted according to the adsorption device with the minimum adsorption size. The optimal value is the intermediate value, that is: initial conduction current + (saturation current - initial conduction current) / 2.

[0081] In this embodiment, the adsorption device corresponding to the minimum adsorption size is used to attract and close with the electromagnet when powered on. Finally, a suitable current threshold is determined, and the state of the magnetic attraction device is detected according to the attraction condition characterized by this current threshold, which can improve the detection accuracy.

[0082] In an exemplary embodiment, if the power-on duration of the electromagnet reaches the preset duration, the electromagnet current of the electromagnet is collected, including: if the power-on duration of the electromagnet reaches the first preset duration, the first current of the electromagnet is collected; when the electromagnet current meets the attraction condition, it is determined that the magnetic attraction device is in the attracted state, including: when the current difference between the initial current and the first current meets the attraction condition, it is determined that the magnetic attraction state of the magnetic drill during the current rise period is the attracted state.

[0083] Among them, the first preset duration is less than the saturation duration required for the electromagnet to reach the current saturation state. The current rise period is the period during which the current of the electromagnet rises.

[0084] Specifically, when the electromagnet is in the current rise period, as Figure 4 、 5 、6 shows, the current change rates corresponding to the electromagnet in the attracted state and the separated state are completely different. Therefore, when the electromagnet has not reached saturation, the first current of the electromagnet can be collected. If the current difference between the initial current and the first current meets the attraction condition, that is, the current difference is less than the current threshold, it can be determined that the magnetic attraction state of the magnetic drill during the current rise period is the attracted state. For example, as Figure 4 shows, Figure 4 is the current change rate graph when the electromagnet is in the separated state. The y point in the graph is the first current collected, x is the initial current, and the difference between the y point and the x point is greater than the current threshold. Therefore, the magnetic attraction state of the magnetic drill during the current rise period is the separated state.

[0085] In some specific embodiments, such as Figure 7 shown, the initial current I_off can be collected. After a first preset duration (Ton_check), the first current I_on_delay is collected. Then, it is determined whether the difference of the first current I_on_delay is less than the current threshold. If it is less, it can be determined that the magnetic attraction state of the magnetic drill during the current ramp-up period is the attracted state.

[0086] Among them, I_off: the current when the electromagnet is not powered on, usually 0.

[0087] I_on_delay: the current when the electromagnet is turned on for Ton_check, and it should be ensured that this value is less than the saturation current of the electromagnet when there is an iron plate attracted, that is, I_on_delay < u / R (u is the power supply voltage, R is the internal resistance of the electromagnet).

[0088] Ton_check: the time difference from when the electromagnet starts to conduct to when the current ramp-up speed starts to be detected, and its value should ensure that the current in the attracted state of the magnet does not rise to the maximum value.

[0089] In this embodiment, by the different characteristics of the electromagnet during the current ramp-up period in different magnetic attraction states, comparing the change rate of the electromagnet current to determine the magnetic attraction state of the magnetic drill can improve the accuracy of determining the magnetic attraction state.

[0090] In an exemplary embodiment, if the power-on duration of the electromagnet reaches the preset duration, the electromagnet current of the electromagnet is collected, including: if the power-on duration of the electromagnet reaches the second preset duration, the second current of the electromagnet is collected; the third current of the electromagnet at the current moment is collected; when the electromagnet current meets the attraction condition, it is determined that the magnetic attraction device is in the attracted state, including: based on the second current, determining the reference current at the current moment; when the current difference between the third current and the reference current meets the attraction condition, it is determined that the magnetic attraction state of the magnetic drill during the current saturation period is the attracted state.

[0091] Among them, the second preset duration is greater than the saturation duration. The reference current refers to the current used as the current reference value in the circuit design.

[0092] Specifically, after the electromagnet reaches the current saturation period, the detection process of the magnetic attraction state is to detect according to the current fluctuation. From the perspective of electromagnetic conversion, a changing magnetic field will generate a voltage. According to another form of Faraday's law of electromagnetic induction:

[0093]

[0094] Here, ф is related to the volume and material of the magnetic core. For the same material, the larger the volume, the larger ф. When the electromagnet core is in contact with the adsorption device, it is equivalent to an increase in ф, and vice versa. The separation and combination of the adsorption device and the iron core are accompanied by changes in ф, thus generating an induced electromotive force ε. When the adsorption device and the iron core move away from each other, the direction of ε is the same as that of the supply voltage of the electromagnet, and the current increases; when they approach each other, the direction of ε is opposite to that of the supply voltage of the electromagnet, and the current decreases. Accordingly, the adsorption state of the adsorption device and the electromagnet can be judged based on the current change in the energized state of the electromagnet.

[0095] As Figure 8 shown, after the electromagnet is in contact with the adsorption device and then separates the two, at point a in the figure, the current increases rapidly by about 50% (specifically related to the material and volume of the magnet iron core, the volume of the iron plate, etc.). As Figure 9 shown, when the electromagnet is energized without the adsorption device being in contact, and then the two are combined, at point b in the figure, the current of the electromagnet decreases sharply by about 50% (specifically related to the material and volume of the magnet iron core, the volume of the iron plate, etc.). That is, the current fluctuations generated by the state change of the electromagnet are different. Therefore, when the power-on duration of the electromagnet reaches the second preset duration, the second current of the electromagnet can be collected, and the third current of the electromagnet at the current moment can be collected. Then, based on the second current, the reference current at the current moment is determined. When the current difference between the third current and the reference current meets the adsorption condition, the magnetic adsorption state of the magnetic drill during the current saturation period is determined as the adsorption state.

[0096] Optionally, the adsorption condition in this embodiment can be characterized by a preset current difference threshold, and the specific setting process can be determined according to the actual situation. For example, as Figure 10 shown, when the current difference between the third current and the reference current Imax is greater than the preset first current difference threshold (the minimum current difference after the iron plate moves away), the magnetic adsorption state of the magnetic drill during the current saturation period is determined as the away state. As Figure 11 shown, when the current difference between the third current and the reference current Imin is less than the preset second current difference threshold (the maximum current difference after the iron plate is adsorbed), the magnetic adsorption state of the magnetic drill during the current saturation period is determined as the adsorption state. Exemplarily, the current difference thresholds in the above two processes are not necessarily the same, and specific settings need to be made according to the actual situation.

[0097] Among them, Imax: the maximum current when the electromagnet is turned on.

[0098] Ton_sample: the current sampling time difference when the electromagnet is turned on, which is related to the current fluctuation frequency. The smaller it is, the higher the accuracy. According to the Nyquist theorem, the sampling frequency should be greater than 2 times the signal frequency, that is, Ton_sample < half of the current change period after the iron plate moves away.

[0099] Imin: The minimum current when the electromagnet is turned on.

[0100] The first current difference threshold: The smaller the value, the higher the sensitivity, but the greater the probability of misjudgment. It should be greater than the current change caused by the power supply voltage fluctuation. For a conventional power supply, the error is <5%, and 10% is taken as a preferable value.

[0101] The second current difference threshold: Similar to the "minimum current difference after the iron plate moves away", the preferable value is also 10%.

[0102] In this embodiment, according to the difference between the third current at the current moment and the determined reference current, the magnetic attraction state of the magnetic drill during the current saturation period can be determined, which can improve the accuracy of determining the magnetic attraction state.

[0103] In an exemplary embodiment, determining the reference current at the current moment based on the second current includes: when the number of the second currents is one, determining the second current as the reference current at the current moment; when the number of the second currents is multiple, determining the maximum current among the second currents as the reference current at the current moment.

[0104] Specifically, as Figure 10 shown, the reference current is used to represent the historical maximum current during the current saturation period. If the number of the second currents is one, the second current is the historical maximum current during the current saturation period. Therefore, the second current can be determined as the reference current at the current moment; if the number of the second currents is multiple, the maximum current among the second currents needs to be determined as the reference current at the current moment.

[0105] It can be understood that during the detection process of the change of the magnetic attraction state from the away state to the attracted state, the reference current is the minimum current among the second currents, that is, the reference current is used to represent the historical minimum current during the current saturation period. If the number of the second currents is one, the second current is the historical minimum current during the current saturation period. Therefore, the second current can be determined as the reference current at the current moment; if the number of the second currents is multiple, the minimum current among the second currents needs to be determined as the reference current at the current moment.

[0106] In this embodiment, according to different numbers of the second currents, the corresponding reference current is determined, which can improve the accuracy of determining the reference current, and further improve the accuracy of determining the magnetic attraction state.

[0107] In an exemplary embodiment, the magnetic attraction state detection method further includes: when the electromagnet current does not meet the attraction condition, determining that the magnetic attraction device is in the away state; turning on the drill protection function of the magnetic attraction device.

[0108] Specifically, if the current of the electromagnet does not meet the suction condition, it is determined that the magnetic attraction device is in a separated state, that is, it represents that the magnetic attraction device and the adsorption device are in a separated state. During the operation of the magnetic attraction device, it means that the magnetic attraction device is not attached to the adsorption device and may have fallen off. Therefore, the drill bit protection function of the magnetic attraction device can be activated to reduce the harm to the operator and avoid damage to the drill bit at the same time.

[0109] In a specific embodiment, as Figure 12 shown, a magnetic attraction state detection method is also provided, including:

[0110] Step S1201: Determine the minimum adsorption size of the adsorption device corresponding to the magnetic drill based on the respective mapped positions of the bottom plate and the drill bit of the magnetic drill in the plane where the adsorption device is located;

[0111] Among them, the magnetic drill belongs to the magnetic attraction device;

[0112] Step S1202: During the process of the adsorption device corresponding to the minimum adsorption size being electromagnetically attracted and powered on, determine the initial conduction current and the saturation current of the electromagnet;

[0113] Step S1203: Conduct statistical analysis on the initial conduction current and the saturation current to determine the current threshold and the suction condition characterized by the current threshold;

[0114] Step S1204: When an electrifying signal for the electromagnet in the magnetic attraction device is obtained, determine the initial current of the electromagnet when it is not electrified;

[0115] Step S1205: Electrify the electromagnet according to the electrifying signal;

[0116] Step S1206: If the electrifying duration of the electromagnet reaches the first preset duration, collect the first current of the electromagnet;

[0117] Among them, the first preset duration is less than the saturation duration required for the electromagnet to reach the current saturation state;

[0118] Step S1207: When the current difference between the initial current and the first current meets the suction condition, determine that the magnetic attraction state of the magnetic drill during the current rise period is the suction state;

[0119] Step S1208: When the current difference between the initial current and the first current does not meet the suction condition, determine that the magnetic attraction state of the magnetic drill during the current rise period is the separated state, and activate the drill bit protection function of the magnetic drill;

[0120] Step S1209: If the electrifying duration of the electromagnet reaches the second preset duration, collect the second current of the electromagnet and collect the third current of the electromagnet at the current moment;

[0121] Among them, the second preset duration is greater than the saturation duration;

[0122] Step S1210, when the number of the second currents is one, determine the second current as the reference current at the current moment;

[0123] Step S1211, when the number of the second currents is multiple, determine the maximum current among the second currents as the reference current at the current moment;

[0124] Step S1212, when the current difference between the third current and the reference current meets the attraction condition, determine that the magnetic attraction state of the magnetic drill during the current saturation period is the attraction state;

[0125] Step S1213, when the current difference between the third current and the reference current does not meet the attraction condition, determine that the magnetic attraction state of the magnetic drill during the current saturation period is the away state, and turn on the drill bit protection function of the magnetic drill.

[0126] It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps does not have a strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same moment, but can be executed at different moments. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0127] Based on the same inventive concept, the embodiments of the present application also provide a magnetic attraction state detection device for implementing the magnetic attraction state detection method involved above. The implementation solutions provided by this device to solve problems are similar to the implementation solutions described in the above method. Therefore, the specific limitations in one or more embodiments of the magnetic attraction state detection device provided below can refer to the limitations on the magnetic attraction state detection method in the above text, and will not be repeated here.

[0128] In an exemplary embodiment, as Figure 13 shown, a magnetic attraction state detection device 1300 is provided, including: an initial current determination module 1302, a power-on module 1304, a current acquisition module 1306, and a state determination module 1308, where:

[0129] The initial current determination module 1302 is configured to determine the initial current of the electromagnet when it is not powered on when an on-signal for the electromagnet in the magnetic attraction device is obtained;

[0130] The power-on module 1304 is used to power on the electromagnet according to the power-on signal;

[0131] The current acquisition module 1306 is used to acquire the electromagnet current of the electromagnet if the power-on duration of the electromagnet reaches a preset duration;

[0132] The state determination module 1308 is used to determine that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition.

[0133] In an exemplary embodiment, the magnetic attraction device includes a magnetic drill. In this embodiment, the magnetic attraction state detection device 1300 further includes an attraction condition determination module, which is specifically used for:

[0134] Based on the respective mapped positions of the bottom plate and the drill bit of the magnetic drill in the plane where the adsorption device is located, determine the minimum adsorption size of the adsorption device corresponding to the magnetic drill;

[0135] During the process of the adsorption device corresponding to the minimum adsorption size being attracted and powered on by the electromagnet, determine the initial conduction current and the saturation current of the electromagnet;

[0136] Perform statistical analysis on the initial conduction current and the saturation current to determine the current threshold and the attraction condition characterized by the current threshold.

[0137] In an exemplary embodiment, the current acquisition module 1306 is used for:

[0138] If the power-on duration of the electromagnet reaches the first preset duration, acquire the first current of the electromagnet; the first preset duration is less than the saturation duration required for the electromagnet to reach the current saturation state;

[0139] The state determination module 1308 is used for, including:

[0140] When the current difference between the initial current and the first current meets the attraction condition, determine that the magnetic attraction state of the magnetic drill during the current rise period is the attracted state.

[0141] In an exemplary embodiment, the current acquisition module 1306 is further used for:

[0142] If the power-on duration of the electromagnet reaches the second preset duration, acquire the second current of the electromagnet; the second preset duration is greater than the saturation duration;

[0143] Acquire the third current of the electromagnet at the current moment;

[0144] The state determination module 1308 includes:

[0145] The reference current determination unit is used to determine the reference current at the current moment based on the second current;

[0146] An engaging state determination unit is configured to determine that the magnetic drill is in an engaged state during the current saturation period when the current difference between the third current and the reference current meets the engagement condition.

[0147] In an exemplary embodiment, the reference current determination unit is specifically configured to:

[0148] When the number of second currents is one, determine the second current as the reference current at the current moment;

[0149] When the number of second currents is multiple, determine the maximum current among the second currents as the reference current at the current moment.

[0150] In an exemplary embodiment, the magnetic attraction state detection device 1300 further includes a drill bit protection module, which is specifically configured to:

[0151] When the electromagnet current does not meet the engagement condition, determine that the magnetic attraction device is in a separated state;

[0152] Enable the drill bit protection function of the magnetic attraction device.

[0153] Each module in the above magnetic attraction state detection device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or be independent of it, or be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0154] In an exemplary embodiment, a computer device is provided. The computer device can be a terminal, and its internal structure diagram can be as Figure 14As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a magnetic adsorption state detection method. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the computer device housing, or an external keyboard, touchpad, or mouse, etc.

[0155] Those skilled in the art can understand that Figure 14 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0156] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of the above method are implemented.

[0157] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, the steps of the above method are implemented.

[0158] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by the processor, the steps of the above method are implemented.

[0159] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.

[0160] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0161] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope recorded in this application.

[0162] The above-described embodiments merely represent several implementation manners of this application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A method for detecting a magnetic state, characterized in that: The method comprises: When a power-on signal for the electromagnet in the magnetic attraction device is obtained, determining an initial current of the electromagnet when it is not powered on; Powering on the electromagnet according to the power-on signal; If the power-on time of the electromagnet reaches a preset time, the electromagnet current of the electromagnet is acquired; When the electromagnet current meets the attraction condition, it is determined that the magnetic attraction device is in the attraction state.

2. The method according to claim 1, characterized in that The magnetic suction device includes a magnetic drill; the method further includes: Determining the minimum adsorption size of the adsorption device corresponding to the magnetic drill based on the respective mapping positions of the bottom plate and the drill bit in the magnetic drill on the plane where the adsorption device is located; In the process of electrically attracting the adsorption device corresponding to the minimum adsorption size and the electromagnet, determining the initial conduction current and the saturation current of the electromagnet; Statistical analysis is performed on the initial on-current and the saturation current to determine a current threshold and a pull-in condition characterized by the current threshold.

3. The method according to claim 2, characterized in that If the power-on time of the electromagnet reaches a preset time, the electromagnet current of the electromagnet is acquired, including: If the power-on time of the electromagnet reaches a first preset time, a first current of the electromagnet is acquired; the first preset time is less than a saturation time required for the electromagnet to reach a current saturation state; When the electromagnet current satisfies the attraction condition, determining that the magnetic attraction device is in the attraction state includes: When the current difference between the initial current and the first current satisfies the attraction condition, the magnetic attraction state of the magnetic drill during the current climbing period is determined to be the attraction state.

4. The method according to claim 3, characterized in that If the power-on time of the electromagnet reaches a preset time, the electromagnet current of the electromagnet is acquired, including: If the power-on time of the electromagnet reaches a second preset time, a second current of the electromagnet is collected; and the second preset time is greater than the saturation time; collecting a third current of the electromagnet at the current moment; When the electromagnet current satisfies the attraction condition, determining that the magnetic attraction device is in the attraction state includes: Based on the second current, determining the reference current at the current moment; When the current difference between the third current and the reference current satisfies the attraction condition, the magnetic attraction state of the magnetic drill in the current saturation period is determined to be the attraction state.

5. The method according to claim 4, characterized in that The determining the reference current at the current moment based on the second current includes: When the number of the second current is one, determining the second current as the reference current at the current moment; When there are a plurality of second currents, the maximum current among the second currents is determined as the reference current at the current moment.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: When the electromagnet current does not satisfy the attraction condition, determining that the magnetic attraction device is in a distance state; Turn on the drill bit protection function of the magnetic suction device.

7. A magnetic state detection device, characterized in that: The device comprises: An initial current determination module, used to determine the initial current of the electromagnet when it is not powered on, when a power-on signal for the electromagnet in the magnetic attraction device is obtained; A power-on module, used to power on the electromagnet according to the power-on signal; A current acquisition module, used for acquiring the electromagnet current of the electromagnet if the power-on time of the electromagnet reaches a preset time; The state determination module is used to determine that the magnetic attraction device is in the attracted state when the electromagnet current meets the attraction condition.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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