A magnetic flux measurement method and device, electronic equipment and storage medium

Abstract

The application discloses a magnetic flux measurement method and device, electronic equipment and storage medium. The method comprises the following steps: acquiring a first visual center position detected by a vision 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 relative calibration information; acquiring a second axis position and first distance detection data detected by a distance detection device at the distance measurement position; determining a detection path of a magnetic flux detection device based on the first axis position, the first visual center position, the second axis position, the first distance detection data, a magnet shape of the to-be-measured magnet and the relative calibration information; and scanning the to-be-measured magnet based on the detection path to acquire a plurality of magnetic flux data and axis position data corresponding to each 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 axis position data is detected in real time while the magnetic flux is detected, and the magnetic flux is measured at a fixed point.

Description

TECHNICAL FIELD

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

[0002] In recent years, with the development of thin and multi-functional electronic devices such as smart phones, tablet computers and notebook computers, magnets have become an indispensable functional component in the device due to their non-contact and wear-free characteristics. Especially in the field of wireless charging of mobile phones, the position between the charging coil and the mobile phone coil is mainly adjusted by the magnetic attraction force to ensure that the electromagnetic induction efficiency is maximized, thereby ensuring that the wireless charging efficiency is maximized.

[0003] A Chinese patent with the patent number CN120161394A discloses a magnetic flux detection method and device. The method can collect the magnetic flux data of all points in the field of view of the three-dimensional magnetic field camera at one time through the cooperation of the laser displacement sensor, the vision system and the three-dimensional magnetic field camera, thereby improving the measurement efficiency of the magnetic flux. In addition, the detection accuracy of the magnetic flux data is improved by using the first, second and third position relationships calibrated in advance to detect the magnetic flux data.

[0004] However, the above-mentioned magnetic flux detection method and device still cannot synchronize and correspond the detected magnetic flux data and the position signal, so the magnetic flux value and the corresponding position signal of each magnet position cannot be accurately measured. SUMMARY

[0005] To solve the above technical problems, the present application provides a magnetic flux measurement method, device, electronic equipment and storage medium. The relative calibration information between the vision system, the distance detection device and the magnetic flux detection device is calibrated by a first calibration magnet, the error between the magnetic field center and the physical center of the magnet is eliminated, the detection path of the magnetic flux detection device is accurately calculated based on the relative calibration information when measuring the magnetic flux of the to-be-measured magnet, and the shaft position data is detected in real time while detecting the magnetic flux, so as to correspond the magnetic flux data and the shaft position data one by one, and realize the point measurement of the magnetic flux.

[0006] In a first aspect, the present application provides a magnetic flux measurement method, which comprises:

[0007] obtaining a first vision center position detected by a vision system at a first shaft position of a to-be-measured magnet;

[0008] determining a distance measurement position based on the first shaft position, the first vision center position and the relative calibration information; the relative calibration information is obtained based on a first calibration magnet with uniform magnetic field distribution, and is used to represent the position relationship between the vision system, the distance detection device and the magnetic flux detection device.

[0009] obtaining a second axis position detected by the distance detection device at the distance measurement position and first distance detection data;

[0010] determining a detection path of the magnetic flux detection device based on the first axis position, the first vision center position, the second axis position, the first distance detection data, a magnet shape of the magnet to be measured, and relative calibration information;

[0011] scanning the magnet to be measured based on the detection path to obtain a plurality of magnetic flux data and axis position data corresponding to each of the plurality of magnetic flux data.

[0012] In an optional embodiment, the method further comprises a step of determining the relative calibration information; the relative calibration information comprises first relative calibration information between the vision system and the distance detection device;

[0013] determining the relative calibration information comprises:

[0014] obtaining a second vision center position detected by the vision system at a third axis position of the first calibration magnet;

[0015] obtaining a fourth axis position of the distance detection device at the second vision center position;

[0016] determining the first relative calibration information based on the third axis position, the fourth axis position, and the second vision center position.

[0017] In an optional embodiment, before obtaining the second vision center position detected by the vision system at the third axis position of the first calibration magnet, the method comprises:

[0018] performing the following operations on the first calibration magnet:

[0019] obtaining a plurality of third vision center positions respectively obtained by the vision system at a plurality of fourth axis positions; the fourth axis positions are positions in a mechanical coordinate system of the vision system; the third vision center positions are positions of the first calibration magnet in an image pixel coordinate system of the vision system;

[0020] determining fourth calibration information based on the plurality of fourth axis positions and the plurality of third vision center positions; the fourth calibration information is used for converting information detected by the vision system in the image pixel coordinate system to the mechanical coordinate system.

[0021] In an optional embodiment, the relative calibration information further comprises second relative calibration information between the vision system and the magnetic flux detection device, and third relative calibration information between the distance detection device and the magnetic flux detection device;

[0022] determining the relative calibration information further comprises:

[0023] acquire a fifth axis position of the distance detection device at the second vision center position and second distance detection data;

[0024] acquire a sixth axis position, a seventh axis position and a measurement gap of the magnetic flux detection device at the preset point position of the first calibration magnet; the magnetic flux density of the preset point position of the first calibration magnet in the X-axis direction and the Y-axis direction is zero;

[0025] determine second relative calibration information based on the third axis position, the second vision center position and the sixth axis position;

[0026] determine third relative calibration information based on the fifth axis position, the second distance detection data, the seventh axis position and the measurement gap.

[0027] In an optional embodiment, acquiring the sixth axis position of the magnetic flux detection device at the preset point position of the first calibration magnet comprises:

[0028] 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 by a preset rotation axis by a first preset angle from the first position state;

[0029] acquire a plurality of eighth axis positions of the magnetic flux detection device at the preset point position in the first position state and the second position state;

[0030] determine the sixth axis position based on the plurality of eighth axis positions.

[0031] In an optional embodiment, the detection path comprises a detection starting position and a detection end position;

[0032] determine the detection path of the magnetic flux detection device based on the first axis position, the first vision center position, the second axis position, the first distance detection data, the magnet shape of the to-be-measured magnet and the relative calibration information, comprising:

[0033] determine the Z-axis detection position based on the second axis position, the first distance detection data and the third relative calibration information;

[0034] determine the XY-axis detection starting position and the XY-axis detection end position based on the first axis position, the first vision center position, the magnet shape of the to-be-measured magnet and the second relative calibration information;

[0035] determine the detection starting position based on the Z-axis detection position and the XY-axis detection starting position;

[0036] determine the detection end position based on the Z-axis detection position and the XY-axis detection end position.

[0037] In an optional embodiment, further comprising:

[0038] determining at least one magnetic flux peak data from the plurality of magnetic flux data based on preset filtering parameters;

[0039] determining the axis position data corresponding to the at least one magnetic flux peak data from the plurality of axis position data.

[0040] In an alternative embodiment, when the at least one magnetic flux peak data comprises the opposite magnetic pole data, the method further comprises:

[0041] determining the magnetic flux data between every two opposite magnetic poles based on the plurality of magnetic flux data;

[0042] determining the magnetic flux data of the non-magnetic zone between every two opposite magnetic poles based on the preset non-magnetic zone threshold value and the axis position data corresponding to the magnetic flux data of the non-magnetic zone;

[0043] determining the position of the non-magnetic zone between every two opposite magnetic poles based on the axis position data corresponding to the magnetic flux data of the non-magnetic zone.

[0044] In an alternative embodiment, the method further comprises:

[0045] for each magnetic flux peak data:

[0046] taking the magnetic flux peak data as the current magnetic peak data;

[0047] determining the first polarity data and the second polarity data from the plurality of magnetic flux data; the first polarity data is the magnetic flux data with the first direction and the first absolute value less than the preset pole width threshold value; the second polarity data is the magnetic flux data with the second direction opposite to the first direction and the first absolute value less than the preset pole width threshold value;

[0048] determining the pole width of the current magnetic peak data based on the difference between the axis position data corresponding to the first polarity data and the axis position data corresponding to the second polarity data;

[0049] determining the pole width of the magnetic field to be measured based on the pole width of each current magnetic peak data.

[0050] In an alternative embodiment, before obtaining the first visual center position detected by the visual system at the first axis position of the magnetic field to be measured, the method further comprises:

[0051] obtaining a plurality of first calibration magnetic flux data in the third direction of the second calibration magnet and the axis 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 poles of the second calibration magnet;

[0052] determining the first non-magnetic data from the plurality of first calibration magnetic flux data;

[0053] obtaining a plurality of second calibration magnetic flux data in a fourth direction of the second calibration magnet and corresponding axial position data of each second calibration magnetic flux data; the fourth direction passes through the center positions of the two polarities of the second calibration magnet;

[0054] determining second non-magnetic data in the plurality of second calibration magnetic flux data;

[0055] performing acquisition error compensation on the magnetic flux detection device based on the axial position data corresponding to the first non-magnetic data and the axial position data corresponding to the second non-magnetic data.

[0056] In a second aspect, the embodiments of the present application provide a magnetic flux measurement device, the device comprising:

[0057] a first obtaining module, configured to obtain a first visual center position detected by a vision system at a first axial position of a to-be-measured magnet;

[0058] a first determining module, configured to determine a distance measurement position based on the first axial position, the first visual center position and relative calibration information; the relative calibration information is obtained based on a first calibration magnet with uniform magnetic field distribution and is used to represent the positional relationship among the vision system, the distance detection device and the magnetic flux detection device;

[0059] a second obtaining module, configured to obtain a second axial position and first distance detection data detected by the distance detection device at the distance measurement position;

[0060] a second determining module, configured to determine a detection path of the magnetic flux detection device based on the first axial position, the first visual center position, the second axial position, the first distance detection data, the magnet shape of the to-be-measured magnet and the relative calibration information;

[0061] a third obtaining module, configured to scan the to-be-measured magnet based on the detection path and obtain a plurality of magnetic flux data and corresponding axial position data of each magnetic flux data.

[0062] In a third aspect, the embodiments of the present application provide an electronic device, the electronic device comprising a processor and a memory, the memory storing at least one instruction, at least one program, a code set or an instruction set, the at least one instruction, the at least one program, the code set or the instruction set being loaded and executed by the processor to implement the magnetic flux measurement method of the first aspect.

[0063] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the magnetic flux measurement method of the first aspect.

[0064] In a fifth aspect, an embodiment of the present application provides a computer program product or computer program, which comprises 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 the processor executes the computer instructions to enable the computer device to perform the magnetic flux measurement method of the first aspect.

[0065] The magnetic flux measurement method, device, electronic device and storage medium provided by the embodiments of the present application have the following technical effects:

[0066] The first visual center position detected by the vision system at the first axis position of the to-be-measured magnet is obtained; the distance measurement position is determined 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 uniform magnetic field distribution and is used to represent the positional relationship among the vision 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; the detection path of the magnetic flux detection device is determined 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-measured magnet and the relative calibration information; the to-be-measured magnet is scanned based on the detection path, and a plurality of magnetic flux data and the axis position data corresponding to each magnetic flux data are obtained. The relative calibration information among the vision system, the distance detection device and the magnetic flux detection device is calibrated by the first calibration magnet, and the error between the magnetic field center and the physical center of the magnet is eliminated. When measuring the magnetic flux of the to-be-measured magnet, the detection path of the magnetic flux detection device is accurately calculated based on the relative calibration information, the axis position data is detected in real time while detecting the magnetic flux, the magnetic flux data and the axis position data are one-to-one corresponding, and the point measurement of the magnetic flux is realized. BRIEF DESCRIPTION OF DRAWINGS

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art and the advantages thereof, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0068] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0069] Figure 2 is a flowchart of a magnetic flux measurement method provided by an embodiment of the present application Figure 1 ;

[0070] Figure 3is a flowchart of a method for determining relative calibration information provided by an embodiment of the present application Figure 1 ;

[0071] Figure 4 is a flowchart of a method for obtaining a second visual center position provided by an embodiment of the present application

[0072] Figure 5 is a flowchart of a method for determining relative calibration information provided by an embodiment of the present application Figure 2 ;

[0073] Figure 6 is a flowchart of a magnetic flux measurement method provided by an embodiment of the present application Figure 2 ;

[0074] Figure 7 is a flowchart of a magnetic flux measurement method provided by an embodiment of the present application Figure 3 ;

[0075] Figure 8 is a flowchart of a magnetic flux measurement method provided by an embodiment of the present application Figure 4 ;

[0076] Figure 9 is a flowchart of a magnetic flux measurement method provided by an embodiment of the present application Figure 5 ;

[0077] Figure 10 is a flowchart of a method for collecting error compensation provided by an embodiment of the present application

[0078] Figure 11 is a structural diagram of a magnetic flux measurement device provided by an embodiment of the present application

[0079] Figure 12 is a hardware structure block diagram of a server of a magnetic flux measurement method provided by an embodiment of the present application DETAILED DESCRIPTION

[0080] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0081] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and the above-described accompanying 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 interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0082] Referring to Figure 1 , Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application, which includes a magnetic flux measurement system 100, including a measurement platform, a three-dimensional motion device 101, a three-dimensional encoder 102, a vision 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.

[0083] In a possible embodiment, a measurement jig for fixing a to-be-measured magnet is arranged on the measurement platform, and a rotating mechanism is arranged below the measurement jig, which is used to drive the measurement jig and the to-be-measured magnet to rotate.

[0084] Optionally, the three-dimensional motion device 101 is arranged on the measurement platform and includes an X-axis motion device, a Y-axis motion device and a Z-axis motion device, which respectively move along the X-axis, Y-axis and Z-axis directions.

[0085] 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 arranged on the X-axis motion device, the Y-axis motion device and the Z-axis motion device and are used to feed back the shaft position data in the XYZ three directions. Specifically, the three-dimensional encoder 102 is configured as a grating ruler in three dimensions, which can accurately obtain the coordinate positions of the X-axis motion device, the Y-axis motion device and the Z-axis motion device in space.

[0086] Optionally, the vision 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.

[0087] The vision system 103 can convert the target to be taken into an image signal through a vision product such as a charge-coupled device (CCD) image sensor, transmit the image signal to a dedicated image processing system, obtain the shape information of the target to be taken, and convert the information such as pixel distribution, brightness, color and the like into a digital signal; the image system performs various operations on the signals to extract the features of the target, and then controls the operation of the equipment on the scene according to the result of the discrimination. The distance detection device 104 can be configured as a laser displacement sensor to perform non-contact distance measurement, accurately measure the relative position, distance or deformation between the object and the sensor, and the like. The magnetic flux detection device 105 can be configured as a three-dimensional Hall sensor, which can be used to measure the magnetic flux density of a point in space, or the magnetic flux data; specifically, the magnetic flux density measured by the three-dimensional Hall sensor includes the magnetic flux density in the three-dimensional direction, which in this embodiment can specifically include the X-axis direction, the Y-axis direction and the Z-axis direction.

[0088] Further, the synchronous acquisition card is in communication connection with the three-dimensional encoder 102 and the magnetic flux detection device, and is used for synchronously acquiring the shaft position data and the magnetic flux data corresponding to the shaft position data.

[0089] In a possible embodiment, the magnetic flux measuring device 107 receives the shaft 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 shaft position data and the corresponding magnetic flux data collected by the synchronous acquisition card. Specifically, the magnetic flux measuring device 107 is configured to acquire a first visual center position detected by the visual system 103 at a first shaft position of a to-be-measured magnet; determine a distance measurement position based on the first shaft position, the first visual center position, and relative calibration information, wherein the relative calibration information is acquired based on a first calibration magnet with a uniform magnetic field distribution, and is used to represent the positional relationship among the visual system 103, the distance detection device 104, and the magnetic flux detection device 105; acquire a second shaft position and first distance detection data detected by the distance detection device 104 at the distance measurement position; determine a detection path of the magnetic flux detection device 105 based on the first shaft position, the first visual center position, the second shaft position, the first distance detection data, the shape of the to-be-measured magnet, and the relative calibration information; and scan the to-be-measured magnet based on the detection path, to acquire a plurality of magnetic flux data and corresponding shaft position data of each magnetic flux data. According to the present application, the relative calibration information among the visual system 103, the distance detection device 104, and the magnetic flux detection device 105 is calibrated based on the first calibration magnet, so as to eliminate the error between the magnetic field center and the physical center of the magnet. When measuring the magnetic flux of the to-be-measured magnet, the detection path of the magnetic flux detection device is accurately calculated based on the relative calibration information, the shaft position data is detected in real time while detecting the magnetic flux, the magnetic flux data is corresponded to the shaft position data one by one, and the magnetic flux is measured at a fixed point.

[0090] The following describes a specific embodiment of a magnetic flux measuring method provided by the present application, Figure 2 is a flowchart of a magnetic flux measuring method provided by an embodiment of the present application Figure 1 The present specification provides method operation steps as the embodiments or flowcharts, but more or fewer operation steps can be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or server product execution, the method order shown in the embodiments or the drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically, as shown in Figure 2 The method is applied to a magnetic flux measuring device, and can include the following steps.

[0091] S201: Acquire a first visual center position detected by a visual system at a first shaft position of a to-be-measured magnet.

[0092] S202: determine a distance measurement position based on the first axis position, the first vision center position, and the relative calibration information, the relative calibration information being obtained based on the first calibration magnet with a uniform magnetic field distribution and used to represent a positional relationship among the vision system, the distance detection device, and the magnetic flux detection device.

[0093] S203: obtain a second axis position and first distance detection data detected by the distance detection device at the distance measurement position.

[0094] S204: determine a detection path of the magnetic flux detection device based on the first axis position, the first vision center position, the second axis position, the first distance detection data, a magnet shape of the to-be-measured magnet, and the relative calibration information.

[0095] S205: scan the to-be-measured magnet based on the detection path, and obtain a plurality of magnetic flux data and axis position data corresponding to each magnetic flux data.

[0096] Before determining the distance measurement position based on the first axis position, the first vision center position, and the relative calibration information, the method further includes a step of determining the relative calibration information.

[0097] Figure 3 is a flowchart of a method for determining relative calibration information provided by an embodiment of the present application Figure 1 The method can include the following steps.

[0098] S301: obtain a second vision center position detected by a vision system at a third axis position of a first calibration magnet.

[0099] In a possible embodiment, the first calibration magnet is an axially magnetized magnet with a uniform magnetic flux distribution, which is used to provide a uniformly distributed magnetic field and eliminate the influence of magnetic field distribution errors on the positional calibration of the measurement device.

[0100] 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 at the upper left corner of an L-shaped measurement jig, and a rotating mechanism is used to drive the first calibration magnet to rotate, and the rotating shaft of the rotating mechanism passes through the physical center or the magnetic field center of the first calibration magnet.

[0101] In a possible embodiment, a three-dimensional motion device is used to move the vision system above the first calibration magnet, and a 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 vision center position, i.e., the physical center of the upper surface of the first calibration magnet, is determined based on the first image and recorded as Pv2 (Vx2, Vy2).

[0102] In a possible embodiment, as shown in Figure 4 The second visual center position of the first calibration magnet can be obtained by the following steps.

[0103] S3011: Obtain a first surface image of a preset upper surface of the first calibration magnet.

[0104] The first surface image can be an image of the preset upper surface of the first calibration magnet.

[0105] In the embodiment, the visual system can capture the preset upper surface of the first calibration magnet to obtain the first surface image. It should be noted that the capturing range of the visual system is greater 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, and the boundary of the preset upper surface can be determined by the captured image including the boundary of the preset upper surface.

[0106] S3012: Determine a first surface boundary of the first calibration magnet based on the first surface image.

[0107] The first surface boundary can be a boundary corresponding to the 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 can be identified by edge detection.

[0108] S3013: Determine the center of the first surface boundary as the second visual center position.

[0109] The center of the first surface boundary refers to a position corresponding to the center point of the first surface boundary.

[0110] In the embodiment, the first surface boundary can be smoothed by smoothing processing, and the plurality of vertices of the boundary and their respective positions can be obtained according to the smoothed first surface boundary. The first center position corresponding to the first surface boundary can be determined according to the positions of the plurality of vertices. For example, in the embodiment, the preset upper surface of the first calibration magnet is square, and the smoothed first surface boundary is approximately a square frame, and then four vertices and their corresponding positions can be obtained. By connecting the two opposite 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 then the position of the center point can be obtained.

[0111] S302: Obtain a fourth axis position of the distance detection device at the second visual center position.

[0112] In the embodiment of the present application, the distance detection device is moved to the second visual center position, i.e. Pv2(Vx2, Vy2), by the three-dimensional motion device. The fourth axis position, i.e. the XY axis position of the distance detection device at this time, Pl1(Lx1, Ly1), is obtained by the XY axis grating ruler.

[0113] S303: determining the first relative calibration information based on the third axis position, the fourth axis position and the second visual center position.

[0114] The calibration relationship as follows can be established by 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), as the first relative calibration information, for representing the position deviation between the vision system and the distance detection device:

[0115] Lx1 + LV∆X = Vx1 + Vx2

[0116] Ly1 + LV∆Y = Vy1 + Vy2

[0117] S304: obtaining the fifth axis position of the distance detection device at the second visual center position and the second distance detection data.

[0118] In the embodiment of the present application, the fifth axis position, i.e. the Z axis position of the distance detection device at this time, Lz1, is obtained by the Z axis grating ruler. The second distance detection data Lv1 is detected by the distance detection device, representing the distance between the distance detection device and the preset upper surface of the first calibration magnet.

[0119] S305: obtaining the sixth axis position, the seventh axis position and the measurement gap of the magnetic flux detection device at the preset point position of the first calibration magnet.

[0120] In a possible embodiment, the preset point position of the first calibration magnet has zero magnetic flux density in the X axis direction and the Y axis direction.

[0121] In the embodiment of the present application, the magnetic flux detection device, i.e. the three-dimensional Hall sensor, is moved to the upper side of the first calibration magnet by the three-dimensional motion device. The X axis motion device and the Y axis motion device are moved slowly, and the magnetic flux data in the space is collected in real time by the three-dimensional Hall sensor until the preset point position where Bx=0 and By=0, i.e. the magnetic flux in the X axis and Y axis directions is 0, is detected, and the movement of the X axis motion device and the Y axis motion device is stopped.

[0122] 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.

[0123] In a possible embodiment, in order to eliminate the non-uniformity of the self magnetic field of the first calibration magnet, the magnet center in the direction can be determined in multiple different directions by rotating the first calibration magnet, and the final magnet center is obtained by averaging the multiple different magnet centers.

[0124] Specifically, the sixth-axis position of the magnetic flux detection device at the preset point of the first calibration magnet is obtained, including:

[0125] S315: determining the preset point in the first position state and the preset point in the second position state of the first calibration magnet.

[0126] In a possible embodiment, the second position state is obtained by rotating the first calibration magnet by a first preset angle around a preset rotation axis from the first position state. In the embodiment of the application, since the first calibration magnet in the application is a square symmetric structure, the first preset angle is 90 degrees. If an asymmetric first calibration magnet is adopted, a rotation angle of 45 degrees needs to be added.

[0127] S325: obtaining multiple eighth-axis positions of the magnetic flux detection device at the preset point in the first position state and the second position state.

[0128] In the first position state of the first calibration magnet, the magnet center in the direction where Bx=0 and By=0 is searched, and the eighth-axis position Pv1 (SVx1, SVy1) in the 0-degree direction is recorded.

[0129] The first calibration magnet is rotated by 90 degrees through the rotating mechanism, the magnet center in the 90-degree direction where Bx=0 and By=0 is searched, the eighth-axis position Pv2 (SVx2, SVy2) in the 90-degree direction is recorded, the magnet center in the 180-degree direction where Bx=0 and By=0 is searched again by rotating 90 degrees, the eighth-axis position Pv3 (SVx3, SVy3) in the 180-degree direction is recorded, and the eighth-axis position Pv4 (SVx4, SVy4) in the 270-degree direction is recorded in the same way.

[0130] S335: determining the sixth-axis position based on the multiple eighth-axis positions.

[0131] The eighth-axis positions in the four directions are averaged as the magnet center axis position, Pv (Sx, Sy) = ((SVx1 + SVx2 + SVx3 + SVx4) / 4, (SVy1 + SVy2+ SVy3 + SVy4) / 4).

[0132] S306: determining the second relative calibration information based on the third-axis position, the second visual center position, and the sixth-axis position.

[0133] By the third axis position Pvl (Vxl, Vyl), the second vision center position Pv2 (Vx2, Vy2), the sixth axis position Pv (Sx, Sy) and the second position deviation (LS∆X, LS∆Y), a calibration relationship as follows can be established as the second relative calibration information for representing the position deviation between the vision system and the magnetic flux detection device:

[0134] Sx + LS∆X = Vxl + Vx2

[0135] Sy + LS∆Y = Vyl + Vy2

[0136] S307: determining third relative calibration information based on the fifth axis position, the second distance detection data, the seventh axis position and the measurement gap.

[0137] By the fifth axis position Lzl, the second distance detection data Lvl, the seventh axis position Sz, the measurement gap Sg and the third position deviation (∆Z), a calibration relationship as follows can be established as the third relative calibration information for representing the position deviation between the distance detection device and the magnetic flux detection device:

[0138] Sz + Sg + ∆Z = Lzl + Lvl

[0139] Figure 5 is a flowchart of a method for determining relative calibration information provided by an embodiment of the present application Figure 2 In a possible embodiment, before the second vision center position detected by the vision system at the third axis position of the first calibration magnet is acquired, the method comprises:

[0140] the first calibration magnet is subjected to:

[0141] S308: acquiring a plurality of third vision center positions respectively acquired by the vision system at a plurality of fourth axis positions.

[0142] In a possible embodiment, the fourth axis position is a position in a mechanical coordinate system of the vision system, and the third vision center position is a position of the first calibration magnet in an image pixel coordinate system of the vision system.

[0143] S309: determining fourth calibration information based on the plurality of fourth axis positions and the plurality of third vision center positions.

[0144] In a possible embodiment, the fourth calibration information is used for converting the detection information of the vision system in the image pixel coordinate system to the mechanical coordinate system.

[0145] In the embodiment of the present application, the fourth axis position and the third vision center position are acquired 9 times by moving the vision system above the magnet through the three-dimensional motion device, and a calibration operation is performed on the nine acquired fourth axis positions and third vision center positions. The vision system outputs the calibrated vision coordinates. Through nine-point calibration, the mapping relationship between the image pixel coordinate system of the vision system and the mechanical coordinate system can be established. By converting the image pixel coordinate system of the vision system to the mechanical coordinate system, the vision system can output the vision center position in the mechanical coordinate system.

[0146] Figure 6 is a flowchart of a magnetic flux measurement method provided by the embodiment of the present application Figure 2 The method can include:

[0147] S401: acquiring a first vision center position detected by a vision system at a first axis position of a to-be-measured magnet.

[0148] In actual application, the to-be-measured magnet is placed on a measurement jig of a measurement platform. In the present application, the to-be-measured magnet can be a single-pole magnet or a multi-pole magnet.

[0149] In the embodiment of the present application, a multi-pole to-be-measured magnet is taken as an example for description. The width of the multi-pole to-be-measured magnet along the X-axis direction is W, and the X-axis direction is scanned and detected.

[0150] In detection, the vision system is first moved above the to-be-measured magnet through the three-dimensional motion device, the current first axis position PV1 (VX1, VY1) is recorded through the X-axis grating ruler and the Y-axis grating ruler, that is, the position of the vision system in space, and then the preset surface image of the to-be-measured magnet is acquired by using the vision system, and the first vision center position PV2 (VX2, VY2) is acquired, that is, the position of the center of the to-be-measured magnet in the image.

[0151] S402: determining a distance measurement position based on the first axis position, the first vision center position and the relative calibration information.

[0152] In the embodiment of the present application, the relative calibration information is acquired based on the first calibration magnet with uniform magnetic field distribution, and is used to represent the positional relationship among the vision system, the distance detection device and the magnetic 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 the embodiment of the present application.

[0153] Since the first relative calibration information represents the positional deviation between the vision 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 vision center position and the first relative calibration information.

[0154] Specifically, the distance measurement position (LX1, LY1) can be determined by the first axis position PV1 (VX1, VY1), the first vision center position PV2 (VX2, VY2) and the first position deviation (LV∆X, LV∆Y):

[0155] LX1= VX1+VX2-LV∆X

[0156] LY1= VY1+VY2-LV∆Y

[0157] S403: Obtain the second axis position and the first distance detection data detected by the distance detection device at the distance measurement position.

[0158] After the distance measurement position is determined, the distance detection device is moved to the distance measurement position (LX1, LY1) by the three-dimensional motion device, the second axis position LZ1 is obtained by the Z-axis grating ruler, and the first distance detection data LV1, i.e., the distance between the distance detection device and the surface of the magnet to be measured, is read by the distance detection device.

[0159] S404: Determine the detection path of the magnetic flux detection device based on the first axis position, the first vision 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.

[0160] In a possible embodiment, the detection path includes a detection starting position and a detection ending position.

[0161] In a possible embodiment, determining the detection path of the magnetic flux detection device based on the first axis position, the first vision 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 includes:

[0162] S414: Determine the Z-axis detection position based on the second axis position, the first distance detection data and the third relative calibration information.

[0163] 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.

[0164] 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):

[0165] SZ = LZ1 + LV1 - ∆Z - SG

[0166] S424: determining the XY-axis detection start 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.

[0167] In a possible embodiment, the XY-axis detection start position of the magnetic flux detection device can be determined 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.

[0168] Specifically, the XY-axis detection start position Ps (SSX, SSY) can be determined based on 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).

[0169] SSX = VX1 + VX2 - LS∆X - W / 2 - 3

[0170] SSY =VY1 +VY2 -LS∆Y

[0171] In the embodiment of the present application, the X-axis detection start position SSX-3 represents that the scanning starts from the front 3 mm of the magnet to be measured, so as to ensure complete scanning of the magnet to be measured.

[0172] In a possible embodiment, the XY-axis detection end position of the magnetic flux detection device can be determined 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.

[0173] Specifically, the XY-axis detection end position Pe (SEX, SEY) can be determined based on 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).

[0174] SEX = VX1 + VX2 - LS∆X + W / 2 + 3

[0175] SEY =VY1 +VY2 -LS∆Y

[0176] In the embodiment of the present application, the X-axis detection start position SEX-3 represents that the scanning ends at the rear 3 mm of the magnet to be measured, so as to ensure complete scanning of the magnet to be measured.

[0177] S434: determining the detection start position based on the Z-axis detection position and the XY-axis detection start position.

[0178] S444: determining the detection end position based on the Z-axis detection position and the XY-axis detection end position.

[0179] The complete scanning path can be determined by the Z-axis detection position, the XY-axis detection start position and the XY-axis detection end position.

[0180] S405: scanning the magnet to be measured based on the detection path, and obtaining a plurality of magnetic flux data and axis position data corresponding to each magnetic flux data.

[0181] After the detection path is determined, the magnetic flux measurement device is moved to the scanning detection start position Ps (SSX, SSY) by the three-dimensional motion device, the Z-axis detection position SZ is determined, the synchronous acquisition card is started to start collecting the analog quantity data of the magnetic flux measurement device (three-dimensional Hall sensor) and the position signals fed back by the X-axis grating ruler, the Y-axis grating ruler and the Z-axis grating ruler, and then the scanning motion is started.

[0182] After the above scanning interpolation motion ends, the synchronous acquisition card completes the last data collection, and the synchronous acquisition card is closed.

[0183] Six floating point arrays are obtained by the above scanning measurement, which respectively represent the magnetic flux Bx, By, Bz and the axis position PosX, PosY, PosZ. Since the three-dimensional Hall sensor used in the embodiment of the application is 5000 GS / 10V, the first three arrays are multiplied by 500 to convert to the unit of Gauss, and the encoder array is multiplied by 0.0005 (the pulse equivalent of the grating ruler is 0.5 um) to convert to the actual position, which is in mm.

[0184] Figure 7 is a flowchart of a magnetic flux measurement method provided by the embodiment of the application Figure 3 The method can include:

[0185] S406: determining at least one magnetic flux peak value data in the plurality of magnetic flux data based on preset filtering parameters.

[0186] S407: determining the axis position data corresponding to the at least one magnetic flux peak value data in the plurality of axis position data.

[0187] In the embodiment of the application, the preset filtering parameters include a preset filtering difference value, a preset filtering interval and a preset peak value range. At least one maximum value is found in the plurality of magnetic flux data according to the preset filtering difference value, the preset filtering interval and the preset peak value range. Each maximum value is a magnetic flux peak value of a polarity.

[0188] The corresponding axis position data is indexed in the corresponding axis position data according to the at least one magnetic flux peak value found above. 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.

[0189] Figure 8 is a flowchart of a magnetic flux measurement method provided by the embodiment of the application Figure 4 In a case where the at least one magnetic flux peak value data comprises the opposite magnetic pole data, the method further comprises:

[0190] S408: determining the magnetic flux data between every two opposite magnetic poles based on the plurality of magnetic flux data.

[0191] S409: determining the non-magnetic zone magnetic flux data in the magnetic flux data between every two opposite magnetic poles and the axis position data corresponding to the non-magnetic zone magnetic flux data based on the preset non-magnetic zone threshold.

[0192] S410: determining the non-magnetic zone position between every two opposite magnetic poles based on the axis position data corresponding to the non-magnetic zone magnetic flux data.

[0193] In the embodiment of the present application, the preset non-magnetic zone threshold is Mt, that is, the magnetic flux data of a certain region is considered as the non-magnetic zone if the magnetic flux data is less than Mt.

[0194] Therefore, the entire magnet to be measured is first divided into intervals by the plurality of magnetic flux data between every two opposite magnetic poles, the point with the absolute value of the Bz value of the magnetic flux data in an interval less than Mt is taken as the non-magnetic point Lp, the axis position data corresponding to each non-magnetic point Lp is obtained, and the average of the axis position data corresponding to each non-magnetic point Lp is the non-magnetic zone position of the interval.

[0195] By analogy, the non-magnetic zone position between every two opposite magnetic poles of the magnet to be measured can be calculated.

[0196] Figure 9 is a flowchart of a magnetic flux measurement method provided by the embodiment of the present application Figure 5 Further comprising:

[0197] For each magnetic flux peak value data:

[0198] S411: taking the magnetic flux peak value data as the current magnet peak value data.

[0199] S412: determining the first polarity data and the second polarity data in the plurality of magnetic flux data.

[0200] In the embodiment of the present application, the first polarity data is the magnetic flux data with the first absolute value less than the preset pole width threshold in the first direction; and the second polarity data is the magnetic flux data with the first absolute value less than the preset pole width threshold in the second direction opposite to the first direction.

[0201] Specifically, a preset pole width threshold is Wt, and a point P1 is searched forward from the point corresponding to the magnetic flux peak value until the absolute value of Bz of the point P1 is less than Wt, and the magnetic flux data corresponding to the point P1 is the first polarity data; and a point P2 is searched backward until the absolute value of Bz of the point P2 is less than Wt, and the magnetic flux data corresponding to the point P2 is the second polarity data.

[0202] S413: determining the pole width of the current magnetic peak value data based on the difference between the axis position data corresponding to the first polarity data and the axis position data corresponding to the second polarity data.

[0203] S414: determining the pole width of the to-be-tested magnet based on the pole width of each current magnetic peak value data.

[0204] The difference P2-P1 between the axis position data P2 corresponding to the second polarity data and the axis position data P1 corresponding to the first polarity data is the pole width of the current magnetic peak value data.

[0205] Similarly, the pole width of each magnetic pole of the to-be-tested magnet can be calculated.

[0206] Figure 10 is a flowchart of a collection error compensation method provided by an embodiment of the present application, and before acquiring the first visual center position detected by the visual system at the first axis position of the to-be-tested magnet, the method further comprises:

[0207] S501: acquiring a plurality of first calibration magnetic flux data of a second calibration magnet in a third direction and axis position data corresponding to each first calibration magnetic flux data.

[0208] 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.

[0209] S502: determining first non-magnetic data in the plurality of first calibration magnetic flux data.

[0210] S503: acquiring a plurality of second calibration magnetic flux data of the second calibration magnet in a fourth direction and axis position data corresponding to each second calibration magnetic flux data.

[0211] In a possible embodiment, the fourth direction passes through the center positions of the two polarities of the second calibration magnet.

[0212] S504: determining second non-magnetic data in the plurality of second calibration magnetic flux data.

[0213] S505: performing collection error compensation on the magnetic flux detection device based on the axis position data corresponding to the first non-magnetic data and the axis position data corresponding to the second non-magnetic data.

[0214] In actual application, the second calibration magnet is fixed on a measuring jig of a measuring platform, the starting point P1 and the ending point P2 are scanned, the scanning path passes through the center positions of the two polarities of the second calibration magnet, the first scanning path, i.e., the third direction is from P1 to P2, the first calibration magnetic flux data and the corresponding axis position data are acquired. The second scanning path, i.e., the fourth direction is from P2 to P1, the second calibration magnetic flux data and the corresponding axis position data are acquired.

[0215] The second non-magnetic data of the two scans and the corresponding non-magnetic zone (Bz magnetic flux is 0) position P3 and P4 points are calculated respectively, and the actual synchronization error of data acquisition is (P4-P3) / 2.

[0216] Since there may be transmission delay between the three-dimensional Hall sensor and the synchronous acquisition card, the synchronous acquisition of the three-dimensional Hall sensor for collecting magnetic flux data and the grating ruler for collecting axis position data has delay, by calculating the actual synchronization error and compensating this error in subsequent measurement, the position result accuracy can be improved, and then the magnetic flux measurement accuracy can be improved.

[0217] The embodiment of the application further provides a magnetic flux measurement device, Figure 11 is a structural schematic diagram of a magnetic flux measurement device provided by the embodiment of the application, as Figure 11 shown, the device 600 comprises:

[0218] The first acquisition module 601 is configured to acquire a first vision center position detected by a vision system at a first axis position of a to-be-measured magnet.

[0219] The first determination module 602 is configured to determine a distance measurement position based on the first axis position, the first vision center position and relative calibration information, the relative calibration information being acquired based on a first calibration magnet with uniform magnetic field distribution and being used to represent the positional relationship among the vision system, the distance detection device and the magnetic flux detection device.

[0220] The second acquisition module 603 is configured to acquire a second axis position and first distance detection data detected by a distance detection device at the distance measurement position.

[0221] The 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 vision center position, the second axis position, the first distance detection data, the magnet shape of the to-be-measured magnet and the relative calibration information.

[0222] The third acquisition module 605 is configured to scan the to-be-measured magnet based on the detection path, and acquire a plurality of magnetic flux data and axis position data corresponding to each magnetic flux data.

[0223] In an alternative embodiment, a third determining module is further included for determining the relative calibration information; the relative calibration information comprises first relative calibration information between the vision system and the distance detection device;

[0224] The third determining module is configured to obtain a second visual center position detected by the vision system at a third axis position of the first calibration magnet, obtain a 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.

[0225] In an alternative embodiment, the method further comprises:

[0226] The first calibration magnet is subjected to:

[0227] The fourth obtaining module is configured to obtain a plurality of third visual center positions obtained by the vision system at a plurality of fourth axis positions respectively; the fourth axis position is a position in a mechanical coordinate system of the vision system; the third visual center position is a position of the first calibration magnet in an image pixel coordinate system of the vision system;

[0228] The fourth determining module is configured to determine fourth calibration information based on the plurality of fourth axis positions and the plurality of third visual center positions; the fourth calibration information is used for converting detection information of the vision system in the image pixel coordinate system to a mechanical coordinate system.

[0229] In an alternative embodiment, the relative calibration information further comprises second relative calibration information between the vision system and the magnetic flux detection device, and third relative calibration information between the distance detection device and the magnetic flux detection device.

[0230] The third determining module is configured to obtain a fifth axis position and second distance detection data of the distance detection device at the second visual center position, obtain a sixth axis position, a seventh axis position and a measurement gap of the magnetic flux detection device at a preset point of the first calibration magnet, the preset point of the first calibration magnet has zero magnetic flux density in the X-axis direction and the Y-axis direction, determine the second relative calibration information based on the third axis position, the second visual center position and the sixth axis position, and determine the third relative calibration information based on the fifth axis position, the second distance detection data, the seventh axis position and the measurement gap.

[0231] In an alternative embodiment, the third determining module is further configured to determine a preset point of the first calibration magnet in a first position state and a preset point of the first calibration magnet in a second position state, the second position state is obtained by rotating the first calibration magnet by a preset rotation axis by a first preset angle from the first position state, obtain a plurality of eighth axis positions of the preset point 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 plurality of eighth axis positions.

[0232] In an alternative embodiment, the detecting the start position and the detecting the end position are performed.

[0233] The second determining module is further configured to 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 start position and an XY-axis detection end position based on the first-axis position, the first visual center position, a magnet shape of the magnet to be detected, and the second relative calibration information; determine the detection start position based on the Z-axis detection position and the XY-axis detection start position; and determine the detection end position based on the Z-axis detection position and the XY-axis detection end position.

[0234] In an alternative embodiment, the method further comprises:

[0235] The fifth determining module is configured to determine at least one magnetic flux peak value data from the plurality of magnetic flux data based on preset filtering parameters.

[0236] The sixth determining module is configured to determine, from the plurality of axis position data, axis position data corresponding to the at least one magnetic flux peak value data.

[0237] In an alternative embodiment, when the at least one magnetic flux peak value data comprises the opposite-pole data, the method further comprises:

[0238] The seventh determining module is configured to determine, based on the plurality of magnetic flux data, magnetic flux data between every two opposite poles.

[0239] The eighth determining module is configured to determine, based on a preset non-magnetic zone threshold, non-magnetic zone magnetic flux data between every two opposite poles and axis position data corresponding to the non-magnetic zone magnetic flux data.

[0240] The ninth determining module is configured to determine, based on the axis position data corresponding to the non-magnetic zone magnetic flux data, a non-magnetic zone position between every two opposite poles.

[0241] In an alternative embodiment, the method further comprises:

[0242] For each magnetic flux peak value data, the method further comprises:

[0243] The tenth determining module is configured to determine, from the plurality of magnetic flux data, a current magnet peak value data.

[0244] The eleventh determining module is configured to determine, from the plurality of magnetic flux data, first polarity data and second polarity data; the first polarity data is magnetic flux data in a first direction and having a first absolute value less than a preset pole width threshold; and the second polarity data is magnetic flux data in a second direction opposite to the first direction and having a first absolute value less than the preset pole width threshold.

[0245] The twelfth determining module is configured to determine the pole width of the current magnet peak value data based on the difference between the axis position data corresponding to the first polarity data and the axis position data corresponding to the second polarity data.

[0246] The thirteenth determining module is configured to determine the pole width of the magnet to be measured based on the pole width of each current magnet peak value data.

[0247] In an optional embodiment, before the first visual center position detected by the vision system at the first axis position of the magnet to be measured is acquired, the method further comprises:

[0248] The fifth acquiring module is configured to acquire a plurality of first calibration magnetic flux data of the second calibration magnet in a third direction and axis 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 positions of the two polarities of the second calibration magnet.

[0249] The fourteenth determining module is configured to determine the first zero magnetic data in the plurality of first calibration magnetic flux data.

[0250] The sixth acquiring module is configured to acquire a plurality of second calibration magnetic flux data of the second calibration magnet in a fourth direction and axis position data corresponding to each second calibration magnetic flux data; the fourth direction passes through the center positions of the two polarities of the second calibration magnet.

[0251] The fifteenth determining module is configured to determine the second zero magnetic data in the plurality of second calibration magnetic flux data.

[0252] The error compensation module is configured to perform acquisition error compensation on the magnetic flux detection device based on the axis position data corresponding to the first zero magnetic data and the axis position data corresponding to the second zero magnetic data.

[0253] The device and method embodiments in the embodiments of the application are based on the same application concept.

[0254] The method embodiments provided in the embodiments of the application can be executed in a computer terminal, a server or a similar computing device. Taking the case of running on a server as an example, Figure 12 is a hardware structure block diagram of a server of a magnetic flux measurement method provided in the embodiments of the application. As shown in 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.

[0255] 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.

[0256] 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.

[0257] 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.

[0258] The embodiment of the present application also provides a computer readable storage medium, which can be arranged in a server to store at least one instruction, at least one program, a code set or an instruction set related to a magnetic flux measurement method in the method embodiment, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the magnetic flux measurement method.

[0259] Optionally, in the embodiment, the storage medium can be located in at least one of a plurality of network servers in a computer network. Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various media capable of storing program codes.

[0260] As can be seen from the above embodiments of the magnetic flux measurement method, device, electronic equipment or storage medium provided by the present application, the first visual center position detected by a visual system at a first axis position of a to-be-measured magnet is acquired; a distance measurement position is determined based on the first axis position, the first visual center position and relative calibration information, the relative calibration information is acquired based on a first calibration magnet with uniform magnetic field distribution and is used to represent the positional relationship among the visual system, the distance detection device and the magnetic flux detection device; a second axis position and first distance detection data detected by the distance detection device at the distance measurement position are acquired; a detection path of the magnetic flux detection device is determined 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-measured magnet and the relative calibration information; the to-be-measured magnet is scanned based on the detection path, and a plurality of magnetic flux data and axis position data corresponding to each magnetic flux data are acquired. The relative calibration information among the visual system, the distance detection device and the magnetic flux detection device is calibrated by the first calibration magnet, and the error between the magnetic field center and the physical center of the magnet is eliminated. When measuring the magnetic flux of the to-be-measured magnet, the detection path of the magnetic flux detection device is accurately calculated based on the relative calibration information, the axis position data is detected in real time while the magnetic flux is detected, the magnetic flux data and the axis position data are corresponded one by one, and the magnetic flux is measured at a fixed point.

[0261] 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.

[0262] 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.

[0263] 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.

[0264] 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 a 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: Acquire the fifth axis position of the distance detection device at the second visual center position and the 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; Acquiring 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 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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