Magnetic flux measurement method and device, electronic equipment and storage medium

Abstract

The invention discloses a magnetic flux measurement method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a first visual center position detected by a visual system at a first axis position of a to-be-measured magnet; determining a distance measurement position based on the first axis position, the first visual center position and the relative calibration information; acquiring a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; determining a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the to-be-detected magnet and the relative calibration information; and scanning the to-be-detected magnet based on the detection path to obtain multiple pieces of magnetic flux data and shaft position data corresponding to each piece of magnetic flux data. When the magnetic flux of the to-be-measured magnet is measured, the detection path is accurately calculated based on the relative calibration information, the shaft position data is detected in real time while the magnetic flux is detected, and fixed-point measurement of the magnetic flux is achieved.

Description

Technical Field

[0001] The present application relates to the field of magnetic detection technology, and in particular to a magnetic flux measurement method, device, electronic device and storage medium. Background Art

[0002] In recent years, with the advancement of slimmer, more versatile electronic devices like smartphones, tablets, and laptops, magnets have become an indispensable component due to their contactless and wear-free properties. In the field of wireless mobile phone charging, magnets are particularly important for aligning the charging coil and the phone coil to maximize electromagnetic induction efficiency, thereby maximizing wireless charging efficiency.

[0003] Chinese patent number CN120161394A discloses a magnetic flux detection method and device. This method uses the cooperation of a laser displacement sensor, a visual system, and a three-dimensional magnetic field camera to enable the three-dimensional magnetic field camera to collect magnetic flux data for all points within the field of view at one time, thereby improving the efficiency of magnetic flux measurement. In addition, since the magnetic flux data is detected using pre-calibrated first position relationships, second position relationships, and third position relationships, the detection accuracy of the magnetic flux data can be improved.

[0004] However, the above-mentioned magnetic flux detection method and device are still unable to synchronize and correspond the detected magnetic flux data with the position signal, and therefore cannot accurately measure the magnetic flux value and the corresponding position signal of each magnet position. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a magnetic flux measurement method, device, electronic device and storage medium. The relative calibration information between the visual system, the distance detection device and the magnetic flux detection device is calibrated by a first calibration magnet to eliminate the error between the magnetic field center and the physical center of the magnet. When measuring the magnetic flux of the magnet to be measured, the detection path of the magnetic flux detection device is accurately calculated based on the relative calibration information, and the axis position data is detected in real time while detecting the magnetic flux. The magnetic flux data and the axis position data are corresponded one by one to realize fixed-point measurement of the magnetic flux.

[0006] In a first aspect, an embodiment of the present application provides a magnetic flux measurement method, the method comprising: Acquire a first visual center position detected by the visual system at a first axis position of the magnet to be measured; Determining a distance measurement position based on the first axis position, the first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet having a uniform magnetic field distribution and is used to characterize the positional relationship between the visual system, the distance detection device, and the magnetic flux detection device; acquiring a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; determining a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be tested, and the relative calibration information; The magnet to be tested is scanned based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

[0007] In an optional embodiment, the method further comprises the step of determining relative calibration information; the relative calibration information comprises first relative calibration information between the vision system and the distance detection device; Determine relative calibration information, including: Acquire a second visual center position detected by the visual system at a third axis position of the first calibration magnet; acquiring a fourth axis position of the distance detection device at the second visual center position; First relative calibration information is determined based on the third axis position, the fourth axis position, and the second visual center position.

[0008] In an optional embodiment, before acquiring the second visual center position detected by the visual system at the third axis position of the first calibration magnet, the method includes: For the first calibration magnet: Acquire multiple third visual center positions respectively acquired by the visual system at multiple fourth-axis positions; the fourth-axis position is the position in the mechanical coordinate system of the visual system; the third visual center position is the position of the first calibration magnet in the image pixel coordinate system of the visual system; Based on the multiple fourth axis positions and the multiple third visual center positions, fourth calibration information is determined; the fourth calibration information is used to convert the detection information of the visual system in the image pixel coordinate system into the mechanical coordinate system.

[0009] In an optional embodiment, the relative calibration information further includes second relative calibration information between the visual system and the magnetic flux detection device, and third relative calibration information between the distance detection device and the magnetic flux detection device; Determine relative calibration information, also including: acquiring a fifth axis position of the distance detection device at a second visual center position and second distance detection data; Obtaining the sixth axis position, the seventh axis position, and the measurement gap of the magnetic flux detection device at the preset point of the first calibration magnet; the magnetic flux density in the X-axis direction and the Y-axis direction at the preset point of the first calibration magnet is zero; determining second relative calibration information based on the third axis position, the second visual center position, and the sixth axis position; Third relative calibration information is determined based on the fifth axis position, the second distance detection data, the seventh axis position, and the measurement gap.

[0010] In an optional embodiment, obtaining the sixth axis position of the magnetic flux detection device at a preset point of the first calibration magnet includes: Determining a preset point position of the first calibration magnet in a first position state and a preset point position of the first calibration magnet in a second position state; the second position state is obtained by rotating the first calibration magnet from the first position state to a first preset angle along a preset rotation axis; Acquire multiple eighth-axis positions of the magnetic flux detection device at preset points in the first position state and the second position state; Based on the plurality of eighth axis positions, a sixth axis position is determined.

[0011] In an optional embodiment, the detection path includes detecting a starting position and detecting an end position; Determining a detection path of a magnetic flux detection device based on a first axis position, a first visual center position, a second axis position, first distance detection data, a magnet shape of a magnet to be measured, and relative calibration information, including: Determine a Z-axis detection position based on the second-axis position, the first distance detection data, and the third relative calibration information; Determine an XY axis detection starting position and an XY axis detection end position based on the first axis position, the first visual center position, the magnet shape of the magnet to be measured, and the second relative calibration information; Determine the detection starting position based on the Z-axis detection position and the XY-axis detection starting position; The detection end point position is determined based on the Z-axis detection position and the XY-axis detection end point position.

[0012] In an optional embodiment, the method further includes: determining at least one magnetic flux peak data from the plurality of magnetic flux data based on a preset filtering parameter; A shaft position data corresponding to at least one magnetic flux peak value data is determined from the plurality of shaft position data.

[0013] In an optional embodiment, when at least one magnetic flux peak data includes opposite magnetic pole data, the method further includes: Based on the plurality of magnetic flux data, determining magnetic flux data between every two magnetic poles of opposite polarity; Determining, based on a preset non-magnetic region threshold, non-magnetic region magnetic flux data in the magnetic flux data between every two opposite magnetic poles and shaft position data corresponding to the non-magnetic region magnetic flux data; The position of the non-magnetic region between every two magnetic poles of opposite polarity is determined based on the shaft position data corresponding to the non-magnetic region magnetic flux data.

[0014] In an optional embodiment, the method further includes: For each peak value of magnetic flux: The magnetic flux peak data is used as the current magnet peak data; Determining first polarity data and second polarity data from a plurality of magnetic flux data; the first polarity data is magnetic flux data in a first direction, the first absolute value of which is less than a preset extreme width threshold; the second polarity data is magnetic flux data in a second direction opposite to the first direction, the first absolute value of which is less than the preset extreme width threshold; determining a pole width of current magnet peak data based on a difference between shaft position data corresponding to the first polarity data and shaft position data corresponding to the second polarity data; The pole width of the magnet to be tested is determined based on the pole width of each current magnet peak data.

[0015] In an optional embodiment, before obtaining the first visual center position detected by the visual system at the first axis position of the magnet to be measured, the method further includes: Acquire a plurality of first calibration magnetic flux data in a third direction of the second calibration magnet and shaft position data corresponding to each first calibration magnetic flux data; the second calibration magnet is a bipolar magnet, and the third direction passes through the center position of the two polarities of the second calibration magnet; determining first non-magnetic data from a plurality of first calibration magnetic flux data; Acquire a plurality of second calibration magnetic flux data in a fourth direction of the second calibration magnet and shaft position data corresponding to each second calibration magnetic flux data; the fourth direction passes through the center position of the two polarities of the second calibration magnet; determining second non-magnetic data from the plurality of second calibration magnetic flux data; Based on the shaft position data corresponding to the first non-magnetic data and the shaft position data corresponding to the second non-magnetic data, acquisition error compensation is performed on the magnetic flux detection device.

[0016] In a second aspect, an embodiment of the present application provides a magnetic flux measuring device, the device comprising: A first acquisition module is used to acquire a first visual center position detected by the visual system at a first axis position of the magnet to be measured; a first determination module, configured to determine a distance measurement position based on a first axis position, a first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet having a uniform magnetic field distribution and is used to characterize a positional relationship between the visual system, the distance detection device, and the magnetic flux detection device; a second acquisition module, configured to acquire a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; a second determining module, configured to determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured, and the relative calibration information; The third acquisition module is used to scan the magnet to be tested based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

[0017] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the magnetic flux measurement method of the first aspect.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the magnetic flux measurement method of the first aspect.

[0019] In a fifth aspect, embodiments of the present application provide a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the magnetic flux measurement method of the first aspect.

[0020] The magnetic flux measurement method, device, electronic device, and storage medium provided in the embodiments of the present application have the following technical effects: Acquire a first visual center position detected by the visual system at a first axis position of the magnet to be measured; determine a distance measurement position based on the first axis position, the first visual center position and relative calibration information; the relative calibration information is obtained based on a first calibration magnet with a uniform magnetic field distribution, and is used to characterize the positional relationship between the visual system, the distance detection device and the magnetic flux detection device; acquire a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured and the relative calibration information; scan the magnet to be measured based on the detection path to acquire multiple magnetic flux data and axis position data corresponding to each magnetic flux data. This application calibrates the relative calibration information between the visual system, the distance detection device and the magnetic flux detection device through a first calibration magnet, eliminates the error between the magnetic field center and the physical center of the magnet, and when measuring the magnetic flux of the magnet to be measured, accurately calculates the detection path of the magnetic flux detection device based on the relative calibration information, and detects the axis position data in real time while detecting the magnetic flux, and makes a one-to-one correspondence between the magnetic flux data and the axis position data to realize fixed-point measurement of the magnetic flux. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application; Figure 2 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 1 ; Figure 3 This is a flow chart of a method for determining relative calibration information provided in an embodiment of the present application. Figure 1 ; Figure 4 1 is a flow chart of a method for obtaining a second visual center position provided in an embodiment of the present application; Figure 5 This is a flow chart of a method for determining relative calibration information provided in an embodiment of the present application. Figure 2 ; Figure 6 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 2 ; Figure 7This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 3 ; Figure 8 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 4 ; Figure 9 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 5 ; Figure 10 This is a flow chart of an acquisition error compensation method provided in an embodiment of the present application; Figure 11 1 is a schematic structural diagram of a magnetic flux measurement device provided in an embodiment of the present application; Figure 12 This is a hardware structure block diagram of a server for a magnetic flux measurement method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0025] See also Figure 1 , Figure 1 This is a schematic diagram of an application environment provided in an embodiment of the present application, including a magnetic flux measurement system 100, including a measurement platform, a three-dimensional motion device 101, a three-dimensional encoder 102, a visual system 103, a distance detection device 104, a magnetic flux detection device 105, a synchronous acquisition card 106 and a magnetic flux measurement device 107.

[0026] In a possible embodiment, a measuring jig for fixing the magnet to be measured is provided on the measuring platform, and a rotating mechanism is provided below the measuring jig, and the rotating mechanism is used to drive the measuring jig and the magnet to be measured to rotate.

[0027] Optionally, the three-dimensional motion device 101 is set on the measurement platform, including an X-axis motion device, a Y-axis motion device and a Z-axis motion device, which move along the X-axis, Y-axis and Z-axis directions respectively.

[0028] Optionally, the three-dimensional encoder 102 includes an X-axis encoder 112, a Y-axis encoder 122, and a Z-axis encoder 132, which are respectively provided on the X-axis motion device, the Y-axis motion device, and the Z-axis motion device, and are used to feedback axis position data in the three directions of X, Y, and Z. Specifically, the three-dimensional encoder 102 is configured as a three-dimensional grating ruler, which can accurately obtain the coordinate position of the X-axis motion device, the Y-axis motion device, and the Z-axis motion device in space.

[0029] Optionally, the visual system 103 , the distance detection device 104 and the magnetic flux detection device 105 are all arranged on the Z-axis motion device, and can be driven by the three-dimensional motion device 101 to move to any position in the space above the measurement platform.

[0030] The vision system 103 can use a vision product, such as a charge-coupled device (CCD)-based image sensor, to convert the captured object into an image signal. This signal is then transmitted to a dedicated image processing system to obtain the object's morphological information. This information is then converted into a digital signal based on pixel distribution, brightness, color, and other information. The imaging system performs various operations on these signals to extract the target's features and, based on the resulting information, controls the operation of on-site equipment. The distance detection device 104 can be configured as a laser displacement sensor for non-contact distance measurement. By emitting a laser beam and receiving a reflected signal, it accurately measures geometric parameters such as the relative position, distance, or deformation between the object and the sensor. The magnetic flux detection device 105 can be configured as a three-dimensional Hall effect sensor, which can be used to measure magnetic flux density, or magnetic flux data, at a point in space. Specifically, the magnetic flux density measured by the three-dimensional Hall effect sensor includes magnetic flux density in three directions, specifically in the X-axis, Y-axis, and Z-axis directions in this embodiment.

[0031] Furthermore, the synchronous acquisition card is in communication with the three-dimensional encoder 102 and the magnetic flux detection device, and is used to synchronously acquire the shaft position data and the magnetic flux data corresponding to the shaft position data.

[0032] In a possible embodiment, the magnetic flux measuring device 107 receives the axis position sent by the three-dimensional encoder 102, the visual center position sent by the visual system 103, and the distance detection data sent by the distance detection device 104, and also receives the axis position data and corresponding magnetic flux data collected by the synchronous acquisition card. Specifically, the magnetic flux measuring device 107 is used to obtain the first visual center position detected by the visual system 103 at the first axis position of the magnet to be measured; determine the distance measurement position based on the first axis position, the first visual center position and the relative calibration information; the relative calibration information is obtained based on the first calibration magnet with a uniform magnetic field distribution, and is used to characterize the positional relationship between the visual system 103, the distance detection device 104 and the magnetic flux detection device 105; obtain the second axis position and the first distance detection data detected by the distance detection device 104 at the distance measurement position; determine the detection path of the magnetic flux detection device 105 based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured and the relative calibration information; scan the magnet to be measured based on the detection path to obtain multiple magnetic flux data and the axis position data corresponding to each magnetic flux data. This application calibrates the relative calibration information between the visual system 103, the distance detection device 104 and the magnetic flux detection device 105 through a first calibration magnet, eliminates the error between the magnetic field center and the physical center of the magnet, and when measuring the magnetic flux of the magnet to be measured, accurately calculates the detection path of the magnetic flux detection device based on the relative calibration information, and detects the axis position data in real time while detecting the magnetic flux, and corresponds the magnetic flux data to the axis position data one by one to achieve fixed-point measurement of the magnetic flux.

[0033] The following describes a specific embodiment of a magnetic flux measurement method of the present application. Figure 2 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 1 , this specification provides method operation steps such as embodiments or flow charts, but may include more or fewer operation steps based on routine or non-creative work. The order of steps listed in the embodiments is only one way of executing the steps among many steps, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method is applied to a magnetic flux measuring device and may include: S201: Acquire a first visual center position detected by a visual system at a first axis position of a magnet to be measured.

[0034] S202: Determine a distance measurement position based on the first axis position, the first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet with a uniform magnetic field distribution, and is used to characterize the positional relationship between the visual system, the distance detection device, and the magnetic flux detection device.

[0035] S203: Acquire the second axis position and first distance detection data detected by the distance detection device at the distance measurement position.

[0036] S204: Determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured, and the relative calibration information.

[0037] S205: Scan the magnet to be tested based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

[0038] Before determining the distance measurement position based on the first axis position, the first visual center position and the relative calibration information, the method further includes a step of determining the relative calibration information.

[0039] Figure 3 This is a flow chart of a method for determining relative calibration information provided in an embodiment of the present application. Figure 1 , the method may include: S301: Acquire a second visual center position detected by the visual system at the third axis position of the first calibration magnet.

[0040] In a possible embodiment, the first calibration magnet is an axially magnetized magnet with uniform magnetic flux distribution, and is used to provide a uniformly distributed magnetic field to eliminate the influence of magnetic field distribution errors on the position calibration of the measuring device.

[0041] Optionally, the first calibration magnet can be a square first calibration magnet or a circular first calibration magnet. In the embodiment of the present application, the first calibration magnet is preferably a square magnet. In actual application, the first calibration magnet can be placed in the upper left corner of an L-shaped measuring fixture and driven to rotate by a rotating mechanism, and the rotating axis of the rotating mechanism passes through the physical center or magnetic field center of the first calibration magnet.

[0042] In one possible embodiment, a three-dimensional motion device is used to move the visual system above the first calibration magnet, and the third-axis position above the first calibration magnet is recorded as Pv1 (Vx1, Vy1). At this time, a first image of the upper surface of the first calibration magnet is obtained, and the second visual center position, that is, the physical center of the upper surface of the first calibration magnet, is determined using the first image and recorded as Pv2 (Vx2, Vy2).

[0043] In one possible embodiment, Figure 4As shown, the above-mentioned acquisition of the second visual center position of the first calibration magnet may include: S3011: Acquire a first surface image of a preset upper surface of a first calibration magnet.

[0044] The first surface image may refer to an image of a preset upper surface of the first calibration magnet.

[0045] In an embodiment of the present application, a visual system can be used to capture the preset upper surface of the first calibration magnet to obtain an image of the first surface. It should be noted that the imaging range of the visual system of the present application is larger than the boundary range of the preset upper surface of the first calibration magnet, so that the boundary of the preset upper surface can be captured. The boundary of the preset upper surface can then be determined using the captured image including the boundary of the preset upper surface.

[0046] S3012: Determine a first surface boundary of the first calibration magnet based on the first surface image.

[0047] The first surface boundary may refer to a boundary corresponding to a preset upper surface of the first calibration magnet in the first surface image. The first surface boundary corresponding to the preset upper surface of the first calibration magnet in the first surface image may be identified by edge detection.

[0048] S3013: Determine the center of the first surface boundary as the second visual center position.

[0049] The center of the first surface boundary refers to a position corresponding to the center point of the first surface boundary.

[0050] In an embodiment of the present application, the first surface boundary can be smoothed to make the lines of the first surface boundary smooth; based on the smoothed first surface boundary, multiple vertices of the boundary and their corresponding positions can be obtained; and based on the positions of the multiple vertices, the first center position corresponding to the first surface boundary can be determined. For example, in this embodiment, the preset upper surface of the first calibration magnet is a square, and based on the smoothed first surface boundary being approximately a square wireframe, four vertices and their corresponding positions can be obtained; by connecting two opposing vertices, two line segments can be obtained, and the intersection of the two line segments is the center point corresponding to the first surface boundary, and the position of the center point can be obtained.

[0051] S302: Acquire the fourth axis position of the distance detection device at the second visual center position.

[0052] In this embodiment of the present application, the distance detection device is moved to the second visual center position, namely Pv2 (Vx2, Vy2), by a three-dimensional motion device. The fourth axis position, namely the XY axis position Pl1 (Lx1, Ly1) of the distance detection device at this time, is obtained by an XY axis grating ruler.

[0053] S303: Determine first relative calibration information based on the third axis position, the fourth axis position, and the second visual center position.

[0054] Through the third-axis position Pv1 (Vx1, Vy1), the fourth-axis position Pl1 (Lx1, Ly1), the second visual center position Pv2 (Vx2, Vy2), and the first position deviation (LV∆X, LV∆Y), the following calibration relationship can be established as the first relative calibration information to characterize the position deviation between the visual system and the distance detection device: Lx1 + LV∆X = Vx1 + Vx2 Ly1 + LV∆Y = Vy1 + Vy2 S304: Acquire the fifth axis position and second distance detection data of the distance detection device at the second visual center position.

[0055] In the embodiment of the present application, the fifth axis position, namely the Z axis position Lz1 of the distance detection device at this time, is obtained by the Z axis grating ruler. The distance detection device detects the second distance detection data Lv1, which represents the distance between the distance detection device and the preset upper surface of the first calibration magnet.

[0056] S305: Acquire the sixth axis position, the seventh axis position, and the measurement gap of the magnetic flux detection device at the preset point of the first calibration magnet.

[0057] In a possible embodiment, the magnetic flux density of the preset point of the first calibration magnet in the X-axis direction and the Y-axis direction is zero.

[0058] In an embodiment of the present application, the magnetic flux detection device, that is, the three-dimensional Hall sensor, is moved to above the first calibration magnet by a three-dimensional motion device, the X-axis motion device and the Y-axis motion device are slowly moved, and the three-dimensional Hall sensor is used to collect magnetic flux data in the space in real time until Bx=0 and By=0 are detected, that is, the preset point where the magnetic flux is 0 in the X-axis and Y-axis directions, and the movement of the X-axis motion device and the Y-axis motion device is stopped.

[0059] At this time, the sixth axis position Pv (SVx, SVy) is recorded by the X-axis and Y-axis grating rulers, the seventh axis position Sz is recorded by the Z-axis grating ruler, and the current measurement gap Sg.

[0060] In a possible embodiment, in order to eliminate the inhomogeneity of the magnetic field of the first calibration magnet itself, the magnet center in a plurality of different directions can be determined by rotating the first calibration magnet, and the average of the plurality of different magnet centers can be used to obtain the final magnet center.

[0061] Specifically, obtaining the sixth axis position of the magnetic flux detection device at a preset point of the first calibration magnet includes: S315: Determine a preset position of the first calibration magnet in the first position state and a preset position of the first calibration magnet in the second position state.

[0062] In one possible embodiment, the second position is achieved by rotating the first calibration magnet from the first position about a predetermined rotation axis through a first predetermined angle. In the embodiment of the present application, since the first calibration magnet is a square symmetrical structure, the first predetermined angle is 90 degrees. If an asymmetrical first calibration magnet is used, an additional 45-degree rotation angle is required.

[0063] S325: Acquire multiple eighth-axis positions of preset points of the magnetic flux detection device in the first position state and the second position state.

[0064] When the first calibration magnet is in the first position, the center of the magnet with Bx=0 and By=0 in the direction is searched, and the eighth axis position Pv1 (SVx1, SVy1) in the 0 degree direction is recorded.

[0065] Rotate the first calibration magnet 90 degrees through the rotating mechanism, search for the magnet center with Bx=0 and By=0 in the 90-degree direction, record the eighth-axis position Pv2 (SVx2, SVy2) in the 90-degree direction, rotate 90 degrees again, search for the magnet center with Bx=0 and By=0 in the 180-degree direction, record the eighth-axis position Pv3 (SVx3, SVy3) in the 180-degree direction, and similarly record the eighth-axis position Pv4 (SVx4, SVy4) in the 270-degree direction.

[0066] S335: Determine the sixth axis position based on the multiple eighth axis positions.

[0067] The average of the eighth-axis positions in the four directions is taken as the magnet center axis position, Pv(Sx, Sy) =((SVx1 + SVx2 + SVx3 + SVx4) / 4, (SVy1 + SVy2+ SVy3 + SVy4) / 4).

[0068] S306: Determine second relative calibration information based on the third axis position, the second visual center position and the sixth axis position.

[0069] Through the third-axis position Pv1 (Vx1, Vy1), the second visual center position Pv2 (Vx2, Vy2), the sixth-axis position Pv (Sx, Sy), and the second position deviation (LS∆X, LS∆Y), the following calibration relationship can be established as the second relative calibration information to characterize the position deviation between the vision system and the magnetic flux detection device: Sx + LS∆X = Vx1 + Vx2 Sy + LS∆Y = Vy1 + Vy2 S307: Determine third relative calibration information based on the fifth axis position, the second distance detection data, the seventh axis position and the measurement gap.

[0070] The following calibration relationship can be established using the fifth-axis position Lz1, the second distance detection data Lv1, the seventh-axis position Sz, the measurement gap Sg, and the third position deviation (∆Z). This relationship serves as the third relative calibration information, which is used to characterize the position deviation between the distance detection device and the magnetic flux detection device: Sz + Sg + ∆Z = Lz1 + Lv1 Figure 5 This is a flow chart of a method for determining relative calibration information provided in an embodiment of the present application. Figure 2 In a possible embodiment, before obtaining the second visual center position detected by the visual system at the third axis position of the first calibration magnet, the method includes: For the first calibration magnet: S308: Acquire multiple third visual center positions respectively acquired by the visual system at multiple fourth axis positions.

[0071] In a possible embodiment, the fourth axis position is a position in a mechanical coordinate system of the visual system, and the third visual center position is a position of the first calibration magnet in an image pixel coordinate system of the visual system.

[0072] S309: Determine fourth calibration information based on the multiple fourth axis positions and the multiple third visual center positions.

[0073] In a possible embodiment, the fourth calibration information is used to convert information detected by the vision system in the image pixel coordinate system into the mechanical coordinate system.

[0074] In an embodiment of the present application, a three-dimensional motion device is used to move the visual system above the magnet, repeatedly obtaining the fourth axis position and the third visual center position nine times. A calibration operation is performed on the nine obtained fourth axis positions and third visual center positions, and then the visual calculation outputs the calibrated visual coordinates. Through the nine-point calibration, a mapping relationship between the image pixel coordinate system of the visual system and the mechanical coordinate system can be established. By converting the image pixel coordinate system of the visual system to the mechanical coordinate system, the visual system can output the visual center position in the mechanical coordinate system.

[0075] Figure 6 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 2 , the method may include: S401: Acquire a first visual center position detected by a visual system at a first axis position of a magnet to be measured.

[0076] In practical applications, the magnet to be measured is placed on a measuring fixture of a measuring platform. In the present application, the magnet to be measured can be a monopole magnet or a multipole magnet.

[0077] In the embodiment of the present application, a multi-pole magnet to be tested is taken as an example for description. The width of the multi-pole magnet to be tested along the X-axis direction is W, and scanning detection is performed in the X-axis direction.

[0078] During the inspection, the visual system is first moved to the top of the magnet to be tested through the three-dimensional motion device, and the current first-axis position PV1 (VX1, VY1), that is, the position of the visual system in space, is recorded through the X-axis grating ruler and the Y-axis grating ruler. Then, the visual system is used to obtain the preset surface image of the magnet to be tested, and then the first visual center position PV2 (VX2, VY2) is obtained, that is, the position of the center of the magnet to be tested in the image.

[0079] S402: Determine a distance measurement position based on the first axis position, the first visual center position, and relative calibration information.

[0080] In an embodiment of the present application, relative calibration information is obtained based on a first calibration magnet with a uniform magnetic field distribution, and is used to characterize the positional relationship between the visual system, the distance detection device, and the flux detection device, that is, the first relative calibration information, the second relative calibration information, the third relative calibration information, and the fourth calibration relative information determined in steps S301 to S309 in an embodiment of the present application.

[0081] Since the first relative calibration information represents the position deviation between the visual system and the distance detection device, the distance measurement position of the distance detection device can be determined based on the first axis position, the first visual center position and the first relative calibration information.

[0082] Specifically, the distance measurement position (LX1, LY1) can be determined by the first axis position PV1 (VX1, VY1), the first visual center position PV2 (VX2, VY2) and the first position deviation (LV∆X, LV∆Y): LX1= VX1+VX2-LV∆X LY1= VY1+VY2-LV∆Y S403: Acquire the second axis position and first distance detection data detected by the distance detection device at the distance measurement position.

[0083] After determining the distance measurement position, the distance detection device is moved to the distance measurement position (LX1, LY1) through the three-dimensional motion device, the second axis position LZ1 is obtained through the Z-axis grating ruler, and the first distance detection data LV1, that is, the distance between the distance detection device and the surface of the magnet to be measured, is read through the distance detection device.

[0084] S404: Determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured, and the relative calibration information.

[0085] In a possible embodiment, the detection path includes detecting a starting position and detecting an end position.

[0086] In a possible embodiment, determining a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be tested, and the relative calibration information includes: S414: Determine the Z-axis detection position based on the second-axis position, the first distance detection data, and the third relative calibration information.

[0087] Since the third relative calibration information represents the position deviation between the distance detection device and the magnetic flux detection device, the Z-axis detection position can be determined by the second axis position, the first distance detection data and the third relative calibration information.

[0088] Specifically, the Z-axis detection position SZ of the magnetic flux detection device is determined by the second axis position LZ1, the first distance detection data LV1, the measurement gap SG and the third position deviation (∆Z): SZ = LZ1 + LV1 - ∆Z - SG S424: Determine an XY axis detection start position and an XY axis detection end position based on the first axis position, the first visual center position, the magnet shape of the magnet to be measured, and the second relative calibration information.

[0089] In a possible embodiment, the XY axis detection starting position of the magnetic flux detection device can be determined by the first axis position, the first visual center position, the magnet shape of the magnet to be tested, and the second relative calibration information.

[0090] Specifically, the XY axis detection starting position Ps (SSX, SSY) can be determined by the first axis position PV1 (VX1, VY1), the first visual center position PV2 (VX2, VY2), the width W of the magnet to be measured, and the second position deviation (LS∆X, LS∆Y): SSX= VX1+VX2-LS∆XW / 2-3 SSY = VY1 + VY2 - LS∆Y In the embodiment of the present application, the X-axis detection starting position SSX-3 indicates that the scan starts from 3 mm in front of the magnet to be tested, so as to ensure that the magnet to be tested is completely scanned.

[0091] In a possible embodiment, the XY axis detection end point position of the magnetic flux detection device can be determined by the first axis position, the first visual center position, the magnet shape of the magnet to be measured, and the second relative calibration information.

[0092] Specifically, the XY axis detection starting position Pe (SEX, SEY) can be determined by the first axis position PV1 (VX1, VY1), the first visual center position PV2 (VX2, VY2), the width W of the magnet to be measured, and the second position deviation (LS∆X, LS∆Y): SEX=VX1+VX2-LS∆X+W / 2+3 SEY=VY1+VY2-LS∆Y In the embodiment of the present application, the X-axis detection starting position SEX-3 represents the end of the scan after scanning to the last 3 mm of the magnet to be tested, so as to ensure that the magnet to be tested is completely scanned.

[0093] S434: Determine the detection start position based on the Z-axis detection position and the XY-axis detection start position.

[0094] S444: Determine the detection end point position based on the Z-axis detection position and the XY-axis detection end point position.

[0095] The complete scanning path can be determined by the Z-axis detection position, the XY-axis detection starting position and the XY-axis detection end position.

[0096] S405: Scan the magnet to be tested based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

[0097] After determining the detection path, the flux measuring device is moved to the scanning detection starting position Ps (SSX, SSY) and the Z-axis detection position SZ through the three-dimensional motion device, and the synchronous acquisition card is started to collect the analog data of the flux measuring device (three-dimensional Hall sensor) and the position signals fed back by the X-axis grating scale, Y-axis grating scale and Z-axis grating scale, and then the scanning motion is started.

[0098] Wait for the above scanning interpolation motion to end, wait for the last data acquisition of the synchronous acquisition card to complete, and turn off the synchronous acquisition card.

[0099] Through the above scanning measurement, 6 floating-point arrays are obtained, representing the magnetic flux Bx, By, Bz and the axis positions PosX, PosY, PosZ respectively. Since a 5000GS / 10V three-dimensional Hall sensor is used in the embodiment of the present application, the first three arrays are multiplied by 500 and converted into Gauss units, and the encoder array is multiplied by 0.0005 (the grating scale pulse equivalent is 0.5um) to convert it into the actual position in mm.

[0100] Figure 7This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 3 , the method may include: S406: Determine at least one magnetic flux peak data from the plurality of magnetic flux data based on preset filtering parameters.

[0101] S407: Determine shaft position data corresponding to at least one magnetic flux peak value data from the plurality of shaft position data.

[0102] In an embodiment of the present application, the preset filtering parameters include a preset filtering difference, a preset filtering spacing and a preset peak range. At least one maximum value is searched in multiple magnetic flux data based on the preset filtering difference, the preset filtering spacing and the preset peak range, and each maximum value is a magnetic flux peak of a polarity.

[0103] At least one magnetic flux peak value found according to the above search is indexed in the corresponding axis position data. The corresponding axis position data is the X, Y, and Z axis positions corresponding to the current polarity peak value, and at least one axis position data is also obtained accordingly.

[0104] Figure 8 This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 4 In the case where the at least one magnetic flux peak data includes opposite magnetic pole data, the method further includes: S408: Based on the plurality of magnetic flux data, determine the magnetic flux data between every two magnetic poles of opposite polarity.

[0105] S409: Determine the non-magnetic region magnetic flux data and the shaft position data corresponding to the non-magnetic region magnetic flux data in the magnetic flux data between every two opposite magnetic poles based on a preset non-magnetic region threshold.

[0106] S410: Determine the position of the non-magnetic region between every two opposite magnetic poles based on the shaft position data corresponding to the non-magnetic region magnetic flux data.

[0107] In the embodiment of the present application, the preset non-magnetic region threshold is Mt, that is, if the magnetic flux data of a certain area is less than Mt, the area is considered to be a non-magnetic area.

[0108] Therefore, we first divide every two opposite poles of the entire magnet to be tested into an interval using multiple magnetic flux data. The point in an interval where the absolute value of the Bz value of the magnetic flux data is less than Mt is taken as the non-magnetic point Lp. We obtain the shaft position data corresponding to each non-magnetic point Lp, and the average value of the shaft position data corresponding to each non-magnetic point Lp is the non-magnetic zone position of the interval.

[0109] By analogy, the position of the non-magnetic area between every two opposite magnetic poles of the magnet to be tested can be calculated.

[0110] Figure 9This is a flow diagram of a magnetic flux measurement method provided in an embodiment of the present application. Figure 5 , also includes: For each peak value of magnetic flux: S411: The magnetic flux peak value data is used as the current magnet peak value data.

[0111] S412: Determine first polarity data and second polarity data in a plurality of magnetic flux data.

[0112] In an embodiment of the present application, the first polarity data is magnetic flux data in a first direction, whose first absolute value is less than a preset extreme width threshold; the second polarity data is magnetic flux data in a second direction opposite to the first direction, whose first absolute value is less than a preset extreme width threshold.

[0113] Specifically, the preset extreme width threshold is Wt, and the search is performed forward from the point corresponding to the magnetic flux peak until the absolute value of Bz of a point P1 is less than Wt. The magnetic flux data corresponding to the point P1 is the first polarity data; the search is performed backward until the absolute value of Bz of a point P2 is less than Wt. The magnetic flux data corresponding to the point P2 is the second polarity data.

[0114] S413: Determine the pole width of the current magnet peak data based on the difference between the shaft position data corresponding to the first polarity data and the shaft position data corresponding to the second polarity data.

[0115] S414: Determine the pole width of the magnet to be tested based on the pole width of each current magnet peak data.

[0116] The difference P2-P1 between the shaft position data P2 corresponding to the second polarity data and the shaft position data P1 corresponding to the first polarity data is the pole width of the current magnet peak data.

[0117] Similarly, the pole width of each pole of the magnet to be tested can be calculated.

[0118] Figure 10 : is a flow chart of an acquisition error compensation method provided by an embodiment of the present application, which further includes: before obtaining a first visual center position detected by a visual system at a first axis position of a magnet to be measured; S501: Acquire a plurality of first calibration magnetic flux data in a third direction of a second calibration magnet and shaft position data corresponding to each first calibration magnetic flux data.

[0119] In a possible embodiment, the second calibration magnet is a bipolar magnet (NS), and the third direction passes through the center positions of the two polarities of the second calibration magnet.

[0120] S502: Determine first non-magnetic data from a plurality of first calibration magnetic flux data.

[0121] S503: Acquire a plurality of second calibration magnetic flux data of the second calibration magnet in the fourth direction and shaft position data corresponding to each second calibration magnetic flux data.

[0122] In a possible embodiment, the fourth direction passes through the center positions of the two polarities of the second calibration magnet.

[0123] S504: Determine second non-magnetic data from a plurality of second calibration magnetic flux data.

[0124] S505: Based on the shaft position data corresponding to the first non-magnetic data and the shaft position data corresponding to the second non-magnetic data, performing acquisition error compensation on the magnetic flux detection device.

[0125] In actual application, the second calibration magnet is fixed to the measuring fixture of the measuring platform. The scan starts at point P1 and ends at point P2. The scan path passes through the center of the two polarities of the second calibration magnet. The first scan path, that is, the third direction, is from P1 to P2, and the first calibration magnetic flux data and the corresponding shaft position data are obtained. The second scan path, that is, the fourth direction, is from P2 to P1, and the second calibration magnetic flux data and the corresponding shaft position data are obtained.

[0126] The second non-magnetic data of the two scans and the corresponding non-magnetic area (Bz magnetic flux is 0) positions P3 and P4 are calculated respectively, and the actual synchronization error of data acquisition is: (P4-P3) / 2.

[0127] Since there may be a transmission delay between the 3D Hall sensor and the synchronous acquisition card, there is a delay in the synchronous acquisition of the magnetic flux data collected by the 3D Hall sensor and the axis position data collected by the grating ruler. By calculating the actual synchronization error and compensating this error in subsequent measurements, the accuracy of the position result can be improved, thereby improving the accuracy of the magnetic flux measurement.

[0128] The present application also provides a magnetic flux measuring device. Figure 11 is a structural diagram of a magnetic flux measuring device provided in an embodiment of the present application, such as Figure 11 As shown, the apparatus 600 includes: A first acquisition module 601 is used to acquire a first visual center position detected by a visual system at a first axis position of a magnet to be measured; A first determination module 602 is configured to determine a distance measurement position based on the first axis position, the first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet having a uniform magnetic field distribution and is used to characterize the positional relationship between the visual system, the distance detection device, and the magnetic flux detection device; A second acquisition module 603 is used to acquire the second axis position and the first distance detection data detected by the distance detection device at the distance measurement position; A second determination module 604 is configured to determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be tested, and the relative calibration information; The third acquisition module 605 is configured to scan the magnet to be tested based on the detection path to acquire a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

[0129] In an optional embodiment, the method further includes a third determining module for determining relative calibration information; the relative calibration information includes first relative calibration information between the visual system and the distance detection device; The third determination module is used to obtain the second visual center position detected by the visual system at the third axis position of the first calibration magnet; obtain the fourth axis position of the distance detection device at the second visual center position; and determine the first relative calibration information based on the third axis position, the fourth axis position and the second visual center position.

[0130] In an optional embodiment, the method further includes: For the first calibration magnet: a fourth acquisition module, configured to acquire a plurality of third visual center positions respectively acquired by the visual system at a plurality of fourth axis positions; the fourth axis position is a position in a mechanical coordinate system of the visual system; and the third visual center position is a position of the first calibration magnet in an image pixel coordinate system of the visual system; The fourth determination module is used to determine fourth calibration information based on multiple fourth axis positions and multiple third visual center positions; the fourth calibration information is used to convert the detection information of the visual system in the image pixel coordinate system into the mechanical coordinate system.

[0131] In an optional embodiment, the relative calibration information further includes second relative calibration information between the visual system and the magnetic flux detection device, and third relative calibration information between the distance detection device and the magnetic flux detection device; The third determination module is used to obtain the fifth-axis position and the second distance detection data of the distance detection device at the second visual center position; obtain the sixth-axis position, the seventh-axis position and the measurement gap of the magnetic flux detection device at the preset point of the first calibration magnet; the magnetic flux density of the preset point of the first calibration magnet in the X-axis direction and the Y-axis direction is zero; based on the third-axis position, the second visual center position and the sixth-axis position, the second relative calibration information is determined; based on the fifth-axis position, the second distance detection data, the seventh-axis position and the measurement gap, the third relative calibration information is determined.

[0132] In an optional embodiment, the third determination module is also used to determine the preset point position of the first calibration magnet in the first position state and the preset point position in the second position state; the second position state is obtained by rotating the first calibration magnet from the first position state to a preset angle along a preset rotation axis; obtain multiple eighth-axis positions of the preset point positions of the magnetic flux detection device in the first position state and the second position state; and determine the sixth-axis position based on the multiple eighth-axis positions.

[0133] In an optional embodiment, the detection path includes detecting a starting position and detecting an end position; The second determination module is further used to determine the Z-axis detection position based on the second axis position, the first distance detection data and the third relative calibration information; determine the XY-axis detection starting position and the XY-axis detection end position based on the first axis position, the first visual center position, the magnet shape of the magnet to be measured and the second relative calibration information; determine the detection starting position based on the Z-axis detection position and the XY-axis detection starting position; and determine the detection end position based on the Z-axis detection position and the XY-axis detection end position.

[0134] In an optional embodiment, the method further includes: a fifth determining module, configured to determine at least one magnetic flux peak data from the plurality of magnetic flux data based on a preset filtering parameter; The sixth determination module is used to determine shaft position data corresponding to at least one magnetic flux peak value data from the multiple shaft position data.

[0135] In an optional embodiment, when at least one magnetic flux peak data includes opposite magnetic pole data, the method further includes: a seventh determining module, configured to determine magnetic flux data between every two magnetic poles of opposite polarity based on the plurality of magnetic flux data; an eighth determining module, configured to determine, based on a preset non-magnetic region threshold, non-magnetic region magnetic flux data and shaft position data corresponding to the non-magnetic region magnetic flux data in the magnetic flux data between every two opposite magnetic poles; The ninth determining module is configured to determine a non-magnetic region position between every two opposite magnetic poles based on the shaft position data corresponding to the non-magnetic region magnetic flux data.

[0136] In an optional embodiment, the method further includes: For each peak value of magnetic flux: a tenth determining module, configured to use the magnetic flux peak value data as the current magnet peak value data; an eleventh determination module, configured to determine first polarity data and second polarity data from the plurality of magnetic flux data; the first polarity data being magnetic flux data in a first direction, the first absolute value of which is less than a preset extreme width threshold; and the second polarity data being magnetic flux data in a second direction opposite to the first direction, the first absolute value of which is less than the preset extreme width threshold; a twelfth determining module, configured to determine a pole width of current magnet peak data based on a difference between the shaft position data corresponding to the first polarity data and the shaft position data corresponding to the second polarity data; The thirteenth determination module is used to determine the pole width of the magnet to be tested based on the pole width of each current magnet peak data.

[0137] In an optional embodiment, before obtaining the first visual center position detected by the visual system at the first axis position of the magnet to be measured, the method further includes: a fifth acquisition module, configured to acquire a plurality of first calibration magnetic flux data in a third direction of the second calibration magnet and shaft position data corresponding to each first calibration magnetic flux data; the second calibration magnet is a bipolar magnet, and the third direction passes through the center position of the two polarities of the second calibration magnet; A fourteenth determining module, configured to determine first non-magnetic data from a plurality of first calibration magnetic flux data; a sixth acquisition module, configured to acquire a plurality of second calibration magnetic flux data in a fourth direction of the second calibration magnet and shaft position data corresponding to each second calibration magnetic flux data; the fourth direction passing through the center position of the two polarities of the second calibration magnet; a fifteenth determining module, configured to determine second non-magnetic data from a plurality of second calibration magnetic flux data; The error compensation module is used to perform acquisition error compensation on the magnetic flux detection device based on the shaft position data corresponding to the first non-magnetic data and the shaft position data corresponding to the second non-magnetic data.

[0138] The device and method embodiments in the embodiments of this application are based on the same application concept.

[0139] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 12 This is a hardware structure diagram of a server for a magnetic flux measurement method provided in an embodiment of the present application. Figure 12As shown, the server 700 may vary significantly depending on configuration or performance. It may include one or more central processing units (CPUs) 710 (CPUs 710 may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing applications 723 or data 722. The memory 730 and storage media 720 may be either transient or persistent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the CPU 710 may be configured to communicate with the storage medium 720 to execute the series of instruction operations in the storage medium 720 on the server 700. The server 700 may also include one or more power supplies 760, one or more wired and wireless network interfaces 750, one or more input and output interfaces 740, and / or one or more operating systems 721, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0140] The input / output interface 740 can be used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the server 700. In one embodiment, the input / output interface 740 may include a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the input / output interface 740 may be a radio frequency (RF) module for wireless communication with the Internet.

[0141] It can be understood by those skilled in the art that Figure 12 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 12 More or fewer components than shown, or with Figure 12 Different configurations shown.

[0142] An embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement the above-mentioned data processing method.

[0143] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a magnetic flux measurement method in a method embodiment. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the above-mentioned magnetic flux measurement method.

[0144] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk, among other media capable of storing program code.

[0145] It can be seen from the embodiments of the magnetic flux measurement method, device, electronic device or storage medium provided by the present application that in the present application, the first visual center position detected by the visual system at the first axis position of the magnet to be measured is obtained; based on the first axis position, the first visual center position and the relative calibration information, the distance measurement position is determined; the relative calibration information is obtained based on the first calibration magnet with a uniform magnetic field distribution, and is used to characterize the positional relationship between the visual system, the distance detection device and the magnetic flux detection device; the second axis position and the first distance detection data detected by the distance detection device at the distance measurement position are obtained; based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured and the relative calibration information, the detection path of the magnetic flux detection device is determined; the magnet to be measured is scanned based on the detection path to obtain multiple magnetic flux data and the axis position data corresponding to each magnetic flux data. This application calibrates the relative calibration information between the visual system, the distance detection device and the magnetic flux detection device through a first calibration magnet, eliminates the error between the magnetic field center and the physical center of the magnet, and when measuring the magnetic flux of the magnet to be measured, accurately calculates the detection path of the magnetic flux detection device based on the relative calibration information, and detects the axis position data in real time while detecting the magnetic flux, and makes a one-to-one correspondence between the magnetic flux data and the axis position data to realize fixed-point measurement of the magnetic flux.

[0146] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0147] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0148] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0149] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A magnetic flux measurement method, characterized in that: include: Acquire a first visual center position detected by the visual system at a first axis position of the magnet to be measured; Determining a distance measurement position based on the first axis position, the first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet having a uniform magnetic field distribution and is used to characterize the positional relationship between the visual system, the distance detection device, and the magnetic flux detection device; acquiring a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; determining a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured, and the relative calibration information; The magnet to be tested is scanned based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

2. A magnetic flux measurement method according to claim 1, characterized in that: The method further comprises the step of determining the relative calibration information; the relative calibration information comprises first relative calibration information between the visual system and the distance detection device; The determining of the relative calibration information includes: Acquiring a second visual center position detected by the visual system at a third axis position of the first calibration magnet; Acquiring a fourth-axis position of the distance detection device at the second visual center position; The first relative calibration information is determined based on the third axis position, the fourth axis position, and the second visual center position.

3. A magnetic flux measurement method according to claim 2, characterized in that: Before acquiring the second visual center position detected by the visual system at the third axis position of the first calibration magnet, the method includes: The first calibration magnet is subjected to the following steps: Acquire a plurality of third visual center positions respectively acquired by the visual system at the plurality of fourth axis positions; the fourth axis position is a position of the visual system in a mechanical coordinate system; the third visual center position is a position of the first calibration magnet in an image pixel coordinate system of the visual system; Based on the multiple fourth axis positions and the multiple third visual center positions, fourth calibration information is determined; the fourth calibration information is used to convert the detection information of the visual system in the image pixel coordinate system into the mechanical coordinate system.

4. A magnetic flux measurement method according to claim 2, characterized in that: The relative calibration information further includes second relative calibration information between the visual system and the magnetic flux detection device, and third relative calibration information between the distance detection device and the magnetic flux detection device; The determining of the relative calibration information further includes: acquiring a fifth axis position of the distance detection device at the second visual center position and second distance detection data; Obtaining the sixth-axis position, the seventh-axis position, and the measurement gap of the magnetic flux detection device at the preset point of the first calibration magnet; the magnetic flux density in the X-axis direction and the Y-axis direction at the preset point of the first calibration magnet is zero; determining the second relative calibration information based on the third axis position, the second visual center position, and the sixth axis position; The third relative calibration information is determined based on the fifth axis position, the second distance detection data, the seventh axis position and the measurement gap.

5. A magnetic flux measurement method according to claim 4, characterized in that: The obtaining of the sixth axis position of the magnetic flux detection device at a preset point of the first calibration magnet includes: Determining the preset point position of the first calibration magnet in a first position state and the preset point position in a second position state; the second position state is obtained by rotating the first calibration magnet from the first position state to a first preset angle about a preset rotation axis; Acquire a plurality of eighth-axis positions of the preset points of the magnetic flux detection device in the first position state and the second position state; The sixth shaft position is determined based on a plurality of the eighth shaft positions.

6. A magnetic flux measurement method according to claim 4, characterized in that: The detection path includes a detection starting position and a detection end position; The determining of the detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be tested, and the relative calibration information includes: determining a Z-axis detection position based on the second-axis position, the first distance detection data, and the third relative calibration information; Determining an XY-axis detection starting position and an XY-axis detection ending position based on the first axis position, the first visual center position, the magnet shape of the magnet to be measured, and the second relative calibration information; Determining the detection starting position based on the Z-axis detection position and the XY-axis detection starting position; The detection end point position is determined based on the Z-axis detection position and the XY-axis detection end point position.

7. A magnetic flux measurement method according to claim 1, characterized in that: Also includes: determining at least one magnetic flux peak data from the plurality of magnetic flux data based on a preset filtering parameter; The shaft position data corresponding to the at least one magnetic flux peak value data is determined from the plurality of shaft position data.

8. A magnetic flux measurement method according to claim 7, characterized in that: In the case where the at least one magnetic flux peak data includes opposite magnetic pole data, the method further comprises: determining magnetic flux data between every two magnetic poles of opposite polarity based on the plurality of magnetic flux data; Determining the non-magnetic region magnetic flux data and the shaft position data corresponding to the non-magnetic region magnetic flux data in the magnetic flux data between each two opposite magnetic poles based on a preset non-magnetic region threshold; The position of the non-magnetic region between every two magnetic poles of opposite polarity is determined based on the shaft position data corresponding to the non-magnetic region magnetic flux data.

9. A magnetic flux measurement method according to claim 7, characterized in that: Also includes: For each of the magnetic flux peak data, perform the following: Using the magnetic flux peak data as current magnet peak data; determining first polarity data and second polarity data among the plurality of magnetic flux data; The first polarity data is magnetic flux data in a first direction, the first absolute value of which is smaller than a preset pole width threshold; The second polarity data is magnetic flux data in a second direction opposite to the first direction, the first absolute value of which is smaller than the preset pole width threshold; determining a pole width of the current magnet peak data based on a difference between the shaft position data corresponding to the first polarity data and the shaft position data corresponding to the second polarity data; The pole width of the magnet to be measured is determined based on the pole width of each current magnet peak data.

10. The magnetic flux measurement method according to claim 1, characterized in that: Before acquiring the first visual center position detected by the visual system at the first axis position of the magnet to be measured, the method further includes: Acquire a plurality of first calibration magnetic flux data in a third direction of a second calibration magnet and shaft position data corresponding to each first calibration magnetic flux data; the second calibration magnet is a bipolar magnet, and the third direction passes through the center position of the two polarities of the second calibration magnet; determining first non-magnetic data from the plurality of first calibration magnetic flux data; Acquire a plurality of second calibration magnetic flux data of the second calibration magnet in a fourth direction and shaft position data corresponding to each second calibration magnetic flux data; the fourth direction passes through the center position of the two polarities of the second calibration magnet; determining second non-magnetic data from the plurality of second calibration magnetic flux data; Based on the shaft position data corresponding to the first non-magnetic data and the shaft position data corresponding to the second non-magnetic data, acquisition error compensation is performed on the magnetic flux detection device.

11. A magnetic flux measuring device, characterized in that: include: A first acquisition module is used to acquire a first visual center position detected by the visual system at a first axis position of the magnet to be measured; a first determination module, configured to determine a distance measurement position based on a first axis position, a first visual center position, and relative calibration information; the relative calibration information is obtained based on a first calibration magnet having a uniform magnetic field distribution and is used to characterize a positional relationship between the visual system, the distance detection device, and the magnetic flux detection device; a second acquisition module, configured to acquire a second axis position and first distance detection data detected by the distance detection device at the distance measurement position; a second determining module, configured to determine a detection path of the magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, the magnet shape of the magnet to be measured, and the relative calibration information; The third acquisition module is used to scan the magnet to be tested based on the detection path to obtain a plurality of magnetic flux data and shaft position data corresponding to each magnetic flux data.

12. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the magnetic flux measurement method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the magnetic flux measurement method according to any one of claims 1 to 10.

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