Device for detecting deformation of magnetic elastomer and application method thereof

Abstract

The invention relates to the technical field of nondestructive testing, in particular to a device for detecting deformation of a magnetic elastomer and an application method of the device. The device comprises a device fixing frame; the magnetic elastic body is arranged at the upper end of the device fixing frame; the first induction unit comprises a first placement hole and a first induction element, the first induction element is located in the first placement hole, and the first induction unit is arranged on the device fixing frame and located under the magnetic elastic body; the second sensing unit comprises a second placement hole and a second sensing element, the second sensing element is located in the second placement hole, and the second sensing unit is arranged on the device fixing frame and located on the side edge of the magnetic elastic body; and the controller is in communication connection with the first sensing element and the second sensing element.

Description

Technical Field

[0001] The present application relates to the technical field of non-destructive testing, and particularly relates to a device for detecting the deformation of a magnetic elastomer and an application method thereof. Background Art

[0002] In the related art, a magnetic elastomer is a kind of intelligent material, and the characteristic of the magnetic elastomer is that it exhibits good magneto-control characteristics under the action of an external magnetic field. The deformation and position discrimination of the magnetic elastomer are very important. For example, in a drug delivery and release system, accurately judging the position of the magnetic elastomer can be beneficial to the further accurate delivery of drugs; in the application of a biosensor, accurately detecting the deformation of the magnetic elastomer can effectively improve the accuracy of the sensor and further expand its use. However, there is currently no efficient method for detecting the deformation of magnetic elastomers.

[0003] In summary, the technical problems existing in the related art need to be improved. Summary of the Invention

[0004] The main purpose of the embodiments of the present application is to propose a device for detecting the deformation of a magnetic elastomer and an application method thereof, which can accurately obtain the degree of deformation of the magnetic elastomer and judge the deformation shape of the magnetic elastomer.

[0005] To achieve the above object, on the one hand, an embodiment of the present application proposes a device for detecting the deformation of a magnetic elastomer, including:

[0006] A device fixing frame;

[0007] A magnetic elastomer, which is arranged at the upper end of the device fixing frame;

[0008] A first induction unit, the first induction unit includes a first placement hole and a first induction element, the first induction element is located inside the first placement hole, and the first induction unit is arranged on the device fixing frame and is located directly below the magnetic elastomer;

[0009] A second induction unit, the second induction unit includes a second placement hole and a second induction element, the second induction element is located inside the second placement hole, and the second induction unit is arranged on the device fixing frame and is located on the side of the magnetic elastomer;

[0010] A controller, which is communicatively connected with the first induction unit and the second induction unit.

[0011] In some embodiments, a third sensing unit is further included. The third sensing unit includes a third placement hole and a third sensing element. The third sensing element is located inside the third placement hole. The third sensing unit is disposed on the device fixing bracket and is opposite to the second sensing unit in position.

[0012] In some embodiments, the first sensing element, the second sensing element, and the third sensing element all include a positive sensing surface and a negative sensing surface.

[0013] In some embodiments, the positive sensing surface of the first sensing element faces upward; the second sensing element and the third sensing element are respectively on the left and right sides of the magnetic sensing body, and the virtual connection line of the second sensing element and the third sensing element is perpendicular to the magnetic domain wall in the magnetic elastic body; when the magnetic sensing body is not rotated and in a vertical state, the magnetic field intensities collected by the first sensing element, the second sensing element, and the third sensing element are 0.

[0014] An application method of a device for detecting the deformation of a magnetic elastic body, the method comprising:

[0015] Obtain the magnetic induction line data of the first sensing element and the second sensing element;

[0016] Input the magnetic induction line data into a first rotation judgment model to obtain a first rotation angle range;

[0017] Obtain the first magnetic field intensity corresponding to the second sensing element;

[0018] Input the first magnetic field intensity corresponding to the second sensing element into a first rotation value model, and match the output result of the first rotation value model according to the first rotation angle range to obtain a target rotation angle.

[0019] In some embodiments, when the second sensing unit is disposed on the device fixing bracket and is located on the left side of the magnetic elastic body, the first rotation judgment model includes:

[0020] When the magnetic induction line data of the first sensing element is the N pole and the magnetic induction line data of the second sensing element is the N pole, the target rotation angle range is 0° - 90°;

[0021] When the magnetic induction line data of the first sensing element is the N pole and the magnetic induction line data of the second sensing element is the S pole, the target rotation angle range is 90° - 180°;

[0022] When the magnetic induction line data of the first sensing element is the S pole and the magnetic induction line data of the second sensing element is the S pole, the target rotation angle range is 180° - 270°;

[0023] When the magnetic induction line data of the first sensing element is the S pole and the magnetic induction line data of the second sensing element is the N pole, the target rotation angle range is 270° - 0°.

[0024] In some embodiments, the construction process of the first rotation numerical model includes:

[0025] Determine the bending angle of the magneto - elastic body and the target rotation angle at the bending angle according to historical data;

[0026] Obtain the historical magnetic field intensity corresponding to the target rotation angle through the second sensing element;

[0027] Traverse the bending angles in multiple historical data, where each determined bending angle traverses multiple target rotation angles, and obtain the historical magnetic field intensity corresponding to the target rotation angle at the determined bending angle through the second sensing element;

[0028] Summarize the bending angle, the target rotation angle corresponding to the determined bending angle, and the historical magnetic field intensity corresponding to the target rotation angle to obtain the first rotation numerical model.

[0029] In some embodiments, inputting the first magnetic field intensity corresponding to the second sensing element into the first rotation numerical model, and matching the output result of the first rotation numerical model according to the first rotation angle range to obtain the target rotation angle includes:

[0030] Obtain the first rotation angle range;

[0031] Input the first magnetic field intensity corresponding to the second sensing element into the first rotation numerical model to obtain a first estimated angle and a second estimated angle;

[0032] Match the first estimated angle and the second estimated angle with the first rotation angle range to obtain the target rotation angle.

[0033] In some embodiments, it further includes:

[0034] When the first estimated angle and the second estimated angle are matched within the first rotation angle range to obtain a first rotation angle and a second rotation angle;

[0035] Obtain the second magnetic field intensity corresponding to the first sensing element;

[0036] Input the second magnetic field intensity corresponding to the first sensing element into the second rotation numerical model to obtain a third rotation angle;

[0037] Match the third rotation angle with the first rotation angle and the second rotation angle to obtain the target rotation angle.

[0038] In some embodiments, the construction process of the second rotation numerical model includes:

[0039] Obtain the first rotation numerical model according to historical data;

[0040] Divide the first rotation numerical model into four rotation angle intervals according to the first rotation angle interval; match by inputting simulated magnetic field intensity values into the four rotation angle intervals respectively to obtain a dual rotation angle interval;

[0041] Determine the bending angle of the magnetoelastic body and the target rotation angle at the bending angle;

[0042] Obtain the second magnetic field intensity corresponding to each angle within the dual rotation angle interval through the first sensing element according to historical data;

[0043] Traverse multiple bending angles. Among them, for each determined bending angle, obtain the second magnetic field intensity corresponding to multiple angles within the dual rotation angle interval through the first sensing element;

[0044] Summarize the bending angle, the rotation angle within the dual rotation angle interval corresponding to the determined bending angle, and the second magnetic field intensity corresponding to the rotation angle within the dual rotation angle interval to obtain the second rotation numerical model.

[0045] The embodiments of the present application at least include the following beneficial effects: The present application provides a device for detecting the deformation of a magnetoelastic body and an application method thereof. This solution uses a first sensing element and a second sensing element communicatively connected to a controller to obtain the magnetic induction line data and magnetic field intensity of the first sensing element and the second sensing element, and determines the target rotation angle of the magnetoelastic body at the corresponding bending angle through the magnetic induction line data and magnetic field intensity. The device in the present application can accurately obtain the deformation data of the magnetoelastic body and judge the deformation situation of the magnetoelastic body, providing an efficient detection or monitoring method for applications such as drug delivery and release or biosensors. Description of the Drawings

[0046] Figure 1 It is a schematic diagram of a device for detecting the deformation of a magnetoelastic body provided by an embodiment of the present application;

[0047] Figure 2 It is a schematic diagram of the positive induction surface of the induction element;

[0048] Figure 3 It is a schematic diagram of the reverse induction surface of the induction element;

[0049] Figure 4 It is a top view schematic diagram of the magnetic induction lines of the magnetic elastomer in the vertical state without deformation;

[0050] Figure 5 It is a front view schematic diagram of the magnetic induction lines of the magnetic elastomer in the vertical state without deformation;

[0051] Figure 6 It is a front view schematic diagram of the magnetic elastomer in the vertical state without deformation;

[0052] Figure 7 It is a front view schematic diagram of the magnetic elastomer when it is bent by 30°;

[0053] Figure 8 It is a front view schematic diagram of the magnetic elastomer when it is bent by 45°;

[0054] Figure 9 It is a top view schematic diagram of the bent magnetic elastomer without rotation;

[0055] Figure 10 It is a top view schematic diagram of the bent magnetic elastomer when it is rotated by 90°;

[0056] Figure 11 It is a top view schematic diagram of the bent magnetic elastomer when it is rotated by 180°;

[0057] Figure 12 It is a three-dimensional schematic diagram of the bent magnetic elastomer when it is rotated;

[0058] Figure 13 It is a flowchart of the application method of the device for detecting the deformation of the magnetic elastomer provided by the embodiment of the present application;

[0059] Figure 14 It is a schematic diagram of the first rotation judgment model when the second induction unit is located on the left side of the magnetic elastomer;

[0060] Figure 15 It is a schematic diagram of the first rotation judgment model when the second induction unit is located on the right side of the magnetic elastomer;

[0061] Figure 16 It is a schematic diagram of a first rotation numerical model provided by the embodiment of the present application. Detailed implementation manners

[0062] In order to make the objectives, technical solutions and advantages of this application more clear and understandable, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not intended to limit this application. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the embodiments of this application. They are merely examples of devices and methods that are consistent with some aspects of the embodiments of this application.

[0063] It can be understood that the terms "first", "second", etc. used in this application may be used herein to describe various concepts, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, the first information may also be referred to as the second information. Similarly, the second information may also be referred to as the first information. Depending on the context, as used herein, the words "if", "when" can be interpreted as "when...", "when...", or "in response to determining".

[0064] The terms "at least one", "multiple", "each", "any one", etc. used in this application, at least one includes one, two or more than two, multiple includes two or more than two, each refers to each of the corresponding multiple, and any one refers to any one of the multiple.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0066] As Figure 1 shown, an embodiment of the present invention provides a device for detecting the deformation of a magnetic elastomer, including a device fixing bracket 110, a magnetic elastomer 120, a first sensing unit 130, a second sensing unit 140, and a controller 150. Among them, the magnetic elastomer 120 is arranged at the upper end of the device fixing bracket 110. The first sensing unit 130 includes a first placement hole and a first sensing element. The first sensing element is arranged inside the first placement hole. The first sensing unit 130 is arranged on the device fixing bracket 110 and is located directly below the magnetic elastomer 120. The second sensing unit 140 includes a second placement hole and a second sensing element. The second sensing element is arranged inside the second placement hole. The second sensing unit 140 is arranged on the device fixing bracket 110 and is located on the side of the magnetic elastomer 120. The controller 150 is communicatively connected to the first sensing element and the second sensing element.

[0067] In some embodiments, the device fixing bracket 110 can be a cuboid or a cylinder, and the shape of the device fixing bracket 110 is not limited by the description of the embodiments. In this embodiment, there can be multiple induction units but not less than 2. At least one induction unit is located at the bottom of the magnetic elastomer 120 and perpendicular to the central axis of the magnetic elastomer 120. When the magnetic elastomer 120 is not deformed, the magnetic field intensity value sensed by this induction unit is 0 at this time. At least one induction unit is located on the side of the magnetic elastomer 120. When the magnetic elastomer 120 is not deformed, the magnetic field intensity value sensed by this induction element is 0 at this time.

[0068] In some embodiments, such as Figure 2 and Figure 3 shown, the first induction element, the second induction element, and the third induction element all belong to induction elements, and the induction elements are divided into a positive induction surface and a negative induction surface. Figure 2 is a schematic diagram of the positive induction surface of the induction element, where the arrow represents the magnetic induction line and is perpendicular to the positive induction surface. The positive induction surface obtains the magnetic induction line data and the magnetic field intensity through the magnetic induction line. The magnetic induction line data collected by the positive induction surface is the N pole or a certain range of voltage values. Among them, the magnetic induction line data includes the N pole and the S pole. Figure 3 is a schematic diagram of the negative induction surface of the induction element, where the arrow also represents the magnetic induction line and is perpendicular to the negative induction surface. The negative induction surface obtains the magnetic induction line data and the magnetic field intensity through the magnetic induction line. The magnetic induction line data collected by the negative induction surface is the S pole or another range of voltage values. In addition, the value of the magnetic field intensity data collected by the induction element is related to the angle between the magnetic field direction and the working surface of the induction element. For example, the external magnetic field intensity is represented as Bex, and the value of the magnetic field intensity collected by the induction element is represented as Bac. When the external magnetic field direction is perpendicular to the working surface of the induction element, that is, the angle α between the two is 90°, Bac = Bex; when the external magnetic field direction is parallel to the working surface of the induction element and the angle α between the two is 0°, Bac = 0; when the external magnetic field direction forms an angle α (0 - 90°) with the working surface of the induction element, Bac = Bex * cosα. It can be understood that by receiving the magnetic induction line through the positive induction surface or the negative induction surface, the magnetic field direction can be efficiently judged. When the magnetic field direction changes, the magnetic induction line data and the magnetic field intensity received by the induction element will also change synchronously. After the position of the magnetic elastomer 120 is determined, in order to accurately obtain the change state of the magnetic elastomer 120, the positions of the first placement hole, the second placement hole, or the third placement hole are determined according to the position of the magnetic elastomer 120.

[0069] It can be understood that the data collected by the controller 150 is determined according to the magnetic induction line intensity of the sensing element. When the magnetic induction line intensity passing through the sensing element changes, the collected data also changes simultaneously. When the magnetic elastomer 120 undergoes deformations in different ranges, in addition to being able to judge the first rotation angle interval according to the polarity of the data, the precise position of the magnetic elastomer 120 can also be further judged according to the data of different magnitudes with the same polarity. For example, when the magnetic elastomer 120 gradually changes from the rotation angle of 270° to the rotation angle of 90° at a certain bending angle, the displayed magnetic induction line data is the N pole, and the specific magnetic field intensity value increases from 0 to a certain value and then gradually decreases to 0. The rotation angle at the position of the maximum magnetic field intensity value is 315°. When the magnetic elastomer 120 gradually changes from the rotation angle of 90° to the rotation angle of 270° at a certain bending angle, the displayed magnetic induction line data is the S pole, and the specific magnetic field intensity value increases from 0 to a certain value and then gradually decreases to 0. The rotation angle at the position of the maximum magnetic field intensity value is 225°. Therefore, the precise deformation position of the magnetic elastomer 120 can be judged according to the specific numerical value collected by the data acquisition module.

[0070] In some embodiments, such as Figure 4 and Figure 5 shown, Figure 4 is a top view of the magnetic induction lines when the magnetic elastomer 120 is in the vertical state without deformation. In the figure, the magnetic induction lines point from the N pole to the S pole. In Figure 4 , the second sensing element in the second sensing unit 140 on the side is used to obtain the magnetic induction line data. Since the magnetic elastomer 120 is in the vertical state without deformation, the magnetic induction lines flowing from the N pole to the S pole are tangent to the positive and negative sensing surfaces of the second sensing element and do not intersect. Then the second sensing element does not obtain the induced value of the magnetic induction line, the magnetic field intensity is 0, and the magnetic induction line data is not displayed. When the magnetic elastomer 120 bends and the rotation angle is in the range of 270° to 90°, at this time, the direction of the external magnetic field enters from the front of the second sensing element. At this time, the magnetic induction line data displayed by the controller 150 is the N pole or a certain range of voltage values. When the magnetic elastomer 120 bends and the rotation angle is in the range of 90° to 270°, at this time, the direction of the external magnetic field enters from the back of the second sensing element. At this time, the magnetic induction line data displayed by the controller 150 is the S pole or another range of voltage values. Figure 5 is a front view of the magnetic induction lines when the magnetic elastomer 120 is in the vertical state without deformation, Figure 5A first induction unit 130 is disposed directly below the magnetoelastic body 120. The first induction unit 130 includes a first placement hole and a first induction element. The first induction element is used to obtain magnetic induction line data. Since the magnetoelastic body 120 is in a vertical state without deformation, the magnetic induction lines flowing from the N pole to the S pole are tangent to the positive induction surface and the negative induction surface of the first induction element without intersecting. Therefore, the first induction element does not obtain the induction value of the magnetic induction lines, the magnetic field intensity is 0, and the magnetic induction line data is not displayed. When the magnetoelastic body 120 bends and the rotation angle is in the range of 0° to 180°, at this time, the direction of the external magnetic field enters from the front of the first induction element, and the magnetic induction line data displayed by the controller 150 at this time is the N pole or a certain range of voltage values. When the magnetoelastic body 120 bends and the rotation angle is in the range of 180° to 0°, at this time, the direction of the external magnetic field enters from the back of the first induction element, and the magnetic induction line data displayed by the controller 150 at this time is the S pole or another range of voltage values.

[0071] In some embodiments, such as Figures 6 to 12 The schematic diagram is a schematic diagram of the bending and rotation states of the magnetoelastic body 120. Specifically, Figure 6 is a front view schematic diagram of the magnetoelastic body 120 in a vertical state without deformation, Figure 7 is a front view schematic diagram of the magnetoelastic body 120 bent at 30°, Figure 8 is a front view schematic diagram of the magnetoelastic body 120 bent at 45°. The vertical dotted line in these three figures is the positioning line. When the magnetoelastic body 120 starts to bend, the angle formed between the straight line passing through the midpoint of the upper end and the midpoint of the lower end of the magnetoelastic body 120 and the positioning line is the bending angle of the magnetoelastic body 120. Figure 9 is a top view schematic diagram of the bent magnetoelastic body 120 without rotation, Figure 10 is a top view schematic diagram of the bent magnetoelastic body 120 rotated 90°, Figure 11 is a top view schematic diagram of the bent magnetoelastic body 120 rotated 180°. When the bent magnetoelastic body 120 starts to rotate, it is assumed that the magnetoelastic body 120 rotates in a clockwise manner. Through the top view schematic diagram, the rotation state can be intuitively seen. The angle formed between the straight line formed by the midpoint of the upper end and the midpoint of the lower end of the magnetoelastic body 120 after rotation and the positioning line is the rotation angle of the magnetoelastic body 120. Figure 12 is a three-dimensional schematic diagram of the bent magnetoelastic body 120 during rotation. The figure respectively describes the state schematics of the magnetoelastic body 120 rotating at 0°-90°, 90°-180°, 180°-270°, 270°-0°, 0°, 90°, 180° and 270°, to better understand the rotation state of the magnetoelastic body 120 at a fixed bending angle.

[0072] In some embodiments, a third sensing unit is further included. The third sensing unit includes a third placement hole and a third sensing element. The third sensing element is disposed inside the third placement hole. The third sensing unit is disposed on the device fixing bracket 110 and is opposite to the position of the second sensing unit 140. Specifically, under normal circumstances, the magnetic induction line data and magnetic field intensity of the magnetic elastomer 120 are obtained through the first sensing element and the second sensing element. However, when the magnetic elastomer 120 is bent and the bending direction is away from the second sensing element, the magnetic induction line data and magnetic field intensity that the second sensing element may sense are weak or inaccurate. To improve the detection accuracy of the device for detecting the deformation of the magnetic elastomer 120, a third sensing unit is added on the other side of the magnetic elastomer 120, different from the second sensing unit 140, to obtain the magnetic induction line data and magnetic field intensity on both sides simultaneously. In this way, the situation of inaccurate data acquisition caused by the influence of the rotation direction of the magnetic elastomer 120 is avoided, and the detection accuracy of the device is improved.

[0073] In some embodiments, the positive sensing surface of the first sensing element faces upward; the second sensing element and the third sensing element are respectively on the left and right sides of the magnetic sensing body, and the virtual connection line of the second sensing element and the third sensing element intersects perpendicularly with the magnetic domain wall in the magnetic elastomer 120; when the magnetic sensing body is not rotated and in a vertical state, the magnetic field intensities collected by the first sensing element, the second sensing element, and the third sensing element are 0. Specifically, setting the positive sensing surface of the first sensing element to face upward is to satisfy that the magnetic field intensity sensed by the first sensing element in the magnetic field is 0 when the magnetic elastomer 120 does not deform. The magnetic domain wall refers to the dividing line between the N pole and the S pole in the magnetic field of the magnetic elastomer 120. The second sensing element and the third sensing element are located on both sides of the magnetic domain wall. And to obtain the magnetic induction line data and magnetic field intensity more accurately, the distances between the second sensing element and the third sensing element and the magnetic elastomer 120 are the same, and the virtual connection line of the second sensing element and the third sensing element is perpendicular to the magnetic domain wall. When the magnetic elastomer 120 is in an undeformed state, the magnetic field intensity values obtained by the second sensing element and the third sensing element are the same.

[0074] In some embodiments, as Figure 13 shown, Figure 13 FIG. is a flowchart of an application method of a device for detecting the deformation of a magnetic elastomer 120 provided by an embodiment of the present application. Figure 13 The method in

[0075] includes but is not limited to steps S131 to S134:

[0076] Step S131: Obtain the magnetic induction line data of the first sensing element and the second sensing element;

[0077] Step S133: Obtain the first magnetic field intensity corresponding to the second sensing element;

[0078] Step S134: Input the first magnetic field intensity corresponding to the second sensing element into the first rotation value model, and match the output result of the first rotation value model according to the first rotation angle interval to obtain the target rotation angle.

[0079] Specifically, in steps S131 to S134, the controller 150 obtains the magnetic induction line data of the magneto-elastic body 120 through the first sensing element and the second sensing element, and inputs the magnetic induction line data into the first rotation judgment model obtained through prior experiments to obtain the first rotation angle interval. The controller 150 obtains the first magnetic field intensity through the second sensing element connected thereto, inputs the first magnetic field intensity into the first rotation value model, and matches the obtained result with the first rotation angle interval to obtain the target rotation angle. The target rotation angle is the specific rotation angle of the magneto-elastic body 120 at a fixed bending angle. The current shape state of the magneto-elastic body 120 can be known through the known bending angle and the target rotation angle.

[0080] In some embodiments, as Figure 1 shown in a device for detecting the deformation of the magneto-elastic body 120, in the figure, the second sensing unit 140 is located on the left side of the magneto-elastic body 120, that is, the second sensing element is located on the left side of the magneto-elastic body 120 and the positive sensing surface of the first sensing element faces upward. Through a large number of experiments, it is known that at this time, as Figure 14 shown, the first rotation judgment model is: when the magnetic induction line data of the first sensing element is the N pole and the magnetic induction line data of the second sensing element is the N pole, the target rotation angle interval is 0° - 90°; when the magnetic induction line data of the first sensing element is the N pole and the magnetic induction line data of the second sensing element is the S pole, the target rotation angle interval is 90° - 180°; when the magnetic induction line data of the first sensing element is the S pole and the magnetic induction line data of the second sensing element is the S pole, the target rotation angle interval is 180° - 270°; when the magnetic induction line data of the first sensing element is the S pole and the magnetic induction line data of the second sensing element is the N pole, the target rotation angle interval is 270° - 0°.

[0081] In some embodiments, when the second sensing unit 140 is located on the right side of the magneto-elastic body 120, that is, the second sensing element is located on the right side of the magneto-elastic body 120 and the anti-sensing surface of the first sensing element faces upward. Through a large number of experiments, it can be known that at this time, as Figure 15As shown, the first rotation judgment model is as follows: when the magnetic induction line data of the first induction element is the S pole and the magnetic induction line data of the second induction element is the S pole, the target rotation angle range is 0° - 90°; when the magnetic induction line data of the first induction element is the S pole and the magnetic induction line data of the second induction element is the N pole, the target rotation angle range is 90° - 180°; when the magnetic induction line data of the first induction element is the N pole and the magnetic induction line data of the second induction element is the N pole, the target rotation angle range is 180° - 270°; when the magnetic induction line data of the first induction element is the N pole and the magnetic induction line data of the second induction element is the S pole, the target rotation angle range is 270° - 0°.

[0082] In some embodiments, as Figure 16 shown, Figure 16 FIG. is a schematic diagram of a first rotation numerical model provided by an embodiment of the present application. The abscissa in the figure represents the rotation angle, and the ordinate represents the magnetic field strength. The a = 90° marked in the upper left corner of the figure indicates that the bending angle of the magnetic elastic body 120 is determined and fixed at 90° at this time. It can be clearly known from the broken line in the figure that when the input magnetic field strength is given, the output rotation angle result may not be unique. In the figure, when the rotation angle is 180° - 270°, this interval is a dual rotation angle interval.

[0083] In some embodiments, for the construction process of the first rotation numerical model, the first rotation numerical model, magnetic induction line data, first rotation angle interval, target rotation angle, and historical magnetic field strength corresponding to the target rotation angle are obtained through historical data of prior experiments for construction. Since different bending angles of the magnetic elastic body 120 will obtain different magnetic field strengths, the bending angle of the magnetic elastic body 120 is first determined and fixed. For the target rotation angle of the magnetic elastic body 120, different target rotation angles will also affect the variation of the magnetic field strength under the fixed bending angle, so the target rotation angle needs to be determined and fixed first. The historical magnetic field strength of the second induction element is obtained and recorded under the determined and fixed bending angle and target rotation angle, so that the bending angle, target rotation angle, and historical magnetic field strength correspond to each other. Under the determined and fixed bending angle, multiple different target rotation angles are adjusted to obtain the historical magnetic field strengths corresponding to the multiple target rotation angles. The target rotation angles and historical magnetic field strengths are summarized under this bending angle, that is, the first rotation numerical model under this bending angle is obtained. Different bending angles are adjusted, and the corresponding historical magnetic field strengths are obtained by adjusting the target rotation angle under the corresponding bending angles. The possibilities of bending angles and target rotation angles are traversed, and the obtained bending angles, target rotation angles, and historical magnetic field strengths are corresponded and summarized one by one to obtain the final first rotation numerical model.

[0084] In some embodiments, a first rotation angle range is obtained by judging the magnetic induction line data of a first sensing element and a second sensing element, and a first magnetic field intensity corresponding to the second sensing element is obtained by the second sensing element; the first magnetic field intensity is input into a first rotation value model. When a first estimated angle and a second estimated angle are obtained, the first estimated angle and the second estimated angle are matched with the first rotation angle range to determine the rotation angle within the first rotation angle range among the first estimated angle and the second estimated angle, and this rotation angle is the target rotation angle.

[0085] In some embodiments, when both the first estimated angle and the second estimated angle are within the first rotation angle range, it is necessary to discriminate by means of the second magnetic field intensity of the first sensing element. The second magnetic field intensity of the first sensing element is obtained by the first sensing element, and the second magnetic field intensity is input into a second rotation value model to obtain a third rotation angle; the third rotation angle is matched with the first rotation angle and the second rotation angle to determine which one of the first rotation angle and the second rotation angle the third rotation angle is the same as, and then the corresponding target rotation angle is obtained.

[0086] In some embodiments, for the construction process of the second rotation value model, specifically, it is constructed by obtaining data such as the first rotation value model, magnetic induction line data, first rotation angle range, dual rotation angle range, and second magnetic field intensity corresponding to the dual rotation angle range through historical data of prior experiments. First, the first rotation value model under the same bending angle is obtained. The first rotation value model is a two-dimensional coordinate diagram with a total of 360°. The first rotation angle range is determined by the magnetic induction line data of the first sensing element and the second sensing element. Since the first rotation angle range is one of 0° - 90°, 90° - 180°, 180° - 270°, or 270° - 0°, and each is an interval of 90°, the first rotation value model can also be divided into 4 equal - part rotation angle ranges according to the angle ranges of the first rotation angle range, and each angle range is 90°. A simulated magnetic field intensity value is involved, and this simulated magnetic field intensity value traverses all possible magnetic field intensities involved in the magneto - elastic body 120. The simulated magnetic field intensity value is respectively input into these 4 rotation angle ranges, and the dual rotation angle range that can obtain two rotation angles is screened out. Next, model training is carried out for the rotation angles within this dual rotation angle range.

[0087] First, determine and fix the bending angle of the magnetoelastic body 120 and the target rotation angle at this bending angle; obtain the second magnetic field strength corresponding to each angle within the dual rotation angle range through the first sensing element; based on different bending angles, obtain the second magnetic field strength at different angles within the dual rotation angle range through the first sensing element; within the dual rotation angle range, summarize the rotation angles and the corresponding second magnetic field strengths at different bending angles. During the process, traverse various bending angles and the rotation angles within the dual rotation angle range to obtain the second magnetic field strength and summarize it. Finally, obtain the second rotation numerical model.

[0088] In some embodiments, when two rotation angles are obtained within the first rotation angle range for the first magnetic field strength, in addition to determining the target rotation angle by judging through the second magnetic field strength obtained by the first sensing element, it can also be judged through the magnetic field strength obtained by the third sensing element. First, determine the corresponding dual rotation angle range within the first rotation angle range through the third magnetic field strength. Then, within the angle range of this dual angle range, summarize the rotation angles and the corresponding magnetic field strengths at different bending angles. During the process, traverse various bending angles and the magnetic field strength obtained at the rotation angles within the dual rotation angle range and summarize it to obtain the final third rotation numerical model. Judge the magnetic field strength of the third sensing element through the third rotation numerical model to obtain the rotation angle, and match and compare the rotation angle with the first estimated angle and the second estimated angle under the first magnetic field strength. Judge which one of the rotation angle and the first estimated angle and the second estimated angle is consistent, and then this estimated angle is the target rotation angle, that is, the rotation angle of the magnetoelastic body 120.

[0089] In some embodiments, the controller 150 and the sensing element can be communicatively connected in a wired or wireless form, and can be adjusted according to the actual application requirements of the device for detecting the deformation of the magnetoelastic body 120. For the magnetoelastic body 120 in the device for detecting the deformation of the magnetoelastic body 120, it is characterized by exhibiting good magneto-control characteristics under an external magnetic field. This material is composed of a rubber matrix and magnetic particles and can change its mechanical properties, such as elastic modulus and damping characteristics, under the influence of an external magnetic field. The magnetoelastic body 120 includes a solid magnetoelastic body and a hollow magnetoelastic body. The hollow magnetoelastic body can wrap different targets for bending or rotation. The shape of the magnetoelastic body 120 includes shapes with a symmetry axis such as a cylinder or a cuboid. It can be understood that the shape of the magnetoelastic body 120 is not limited by the description of the embodiments.

[0090] Those of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and their appropriate combinations.

[0091] In the description of the present application and the above-mentioned accompanying drawings, terms such as "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that comprises a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0092] It should be understood that in the present application, "at least one (item)" means one or more, and "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or its similar expression means any combination of these items, including any combination of single item (one) or plural items (ones). For example, at least one (one) of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0093] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, in each embodiment of the present application, the functional units can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0095] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of rights of the embodiments of the present application. Any modification, equivalent replacement and improvement made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of rights of the embodiments of the present application.

Claims

1. A device for detecting the deformation of a magnetoelastic body, characterized in that, Including: Device fixing bracket; Magnetic elastomer, which is arranged at the upper end of the device fixing bracket; First induction unit, the first induction unit includes a first placement hole and a first induction element, the first induction element is located inside the first placement hole, and the first induction unit is arranged on the device fixing bracket and is located directly below the magnetic elastomer; Second induction unit, the second induction unit includes a second placement hole and a second induction element, the second induction element is located inside the second placement hole, and the second induction unit is arranged on the device fixing bracket and is located on the side of the magnetic elastomer; Controller, the controller is communicatively connected to the first induction element and the second induction element.

2. The device according to claim 1, wherein It further includes a third induction unit, the third induction unit includes a third placement hole and a third induction element, the third induction element is located inside the third placement hole, and the third induction unit is arranged on the device fixing bracket and is opposite to the position of the second induction unit.

3. The device according to claim 2, wherein The first induction element, the second induction element and the third induction element all include a positive induction surface and a negative induction surface.

4. The device according to claim 3, characterized in that, The positive induction surface of the first induction element faces upward; the second induction element and the third induction element are respectively on the left and right sides of the magnetic induction body, and the virtual connection line of the second induction element and the third induction element is perpendicular to the magnetic domain wall in the magnetic elastomer; When the magnetic induction body is not rotated and in a vertical state, the magnetic field intensities collected by the first induction element, the second induction element and the third induction element are 0.

5. A method for applying a device for detecting the deformation of a magnetoelastic body, which is applied to the device for detecting the deformation of a magnetoelastic body according to claims 1-4, characterized in that, The method includes: Obtaining the magnetic induction line data of the first induction element and the second induction element; Inputting the magnetic induction line data into a first rotation judgment model to obtain a first rotation angle interval; Obtaining the first magnetic field intensity corresponding to the second induction element; Inputting the first magnetic field intensity corresponding to the second induction element into a first rotation value model, and matching the output result of the first rotation value model according to the first rotation angle interval to obtain a target rotation angle.

6. The method according to claim 5, wherein When the second induction unit is arranged on the device fixing bracket and is located on the left side of the magnetic elastomer, the first rotation judgment model includes: When the magnetic induction line data of the first induction element is the N pole and the magnetic induction line data of the second induction element is the N pole, the target rotation angle interval is 0° - 90°; When the magnetic induction line data of the first induction element is the N pole and the magnetic induction line data of the second induction element is the S pole, the target rotation angle interval is 90° - 180°; When the magnetic induction line data of the first induction element is the S pole and the magnetic induction line data of the second induction element is the S pole, the target rotation angle interval is 180° - 270°; When the magnetic induction line data of the first induction element is the S pole and the magnetic induction line data of the second induction element is the N pole, the target rotation angle interval is 270° - 0°.

7. The method according to claim 5, characterized in that The construction process of the first rotation value model includes: Determine the bending angle of the magneto - elastic body and the target rotation angle at the bending angle according to historical data; Obtain the historical magnetic field intensity corresponding to the target rotation angle through the second sensing element; Traverse the bending angles in multiple historical data, where each determined bending angle traverses multiple target rotation angles, and obtain the historical magnetic field intensity corresponding to the target rotation angle at the determined bending angle through the second sensing element; Summarize the bending angle, the target rotation angle corresponding to the determined bending angle, and the historical magnetic field intensity corresponding to the target rotation angle to obtain the first rotation numerical model.

8. The method according to claim 5, wherein The step of inputting the first magnetic field intensity corresponding to the second sensing element into the first rotation numerical model and matching the output result of the first rotation numerical model according to the first rotation angle interval to obtain the target rotation angle includes: Obtain the first rotation angle interval; Input the first magnetic field intensity corresponding to the second sensing element into the first rotation numerical model to obtain a first estimated angle and a second estimated angle; Match the first estimated angle and the second estimated angle with the first rotation angle interval to obtain the target rotation angle.

9. The method according to claim 8, wherein It further includes: When the first estimated angle and the second estimated angle are matched within the first rotation angle interval to obtain a first rotation angle and a second rotation angle; Obtain the second magnetic field intensity corresponding to the first sensing element; Input the second magnetic field intensity corresponding to the first sensing element into the second rotation numerical model to obtain a third rotation angle; Match the third rotation angle with the first rotation angle and the second rotation angle to obtain the target rotation angle.

10. The method according to claim 9, wherein The construction process of the second rotation numerical model includes: Obtain the first rotation numerical model according to historical data; Divide the first rotation numerical model into four rotation angle intervals according to the first rotation angle interval; match by respectively inputting simulated magnetic field intensity values into the four rotation angle intervals to obtain a dual - element rotation angle interval; Determine the bending angle of the magneto - elastic body and the target rotation angle at the bending angle; Obtain the second magnetic field intensity corresponding to each angle within the dual - element rotation angle interval through the first sensing element according to historical data; Traverse multiple bending angles, where each determined bending angle obtains the second magnetic field intensity corresponding to multiple angles within the dual - element rotation angle interval through the first sensing element; Summarize the bending angle, the rotation angles within the dual - element rotation angle interval corresponding to the determined bending angle, and the second magnetic field intensity corresponding to the rotation angles within the dual - element rotation angle interval to obtain the second rotation numerical model.

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