Outdoor automatic tool control method and system based on magnetic sensing analysis

Abstract

The application relates to an outdoor automatic tool control method and system based on magnetic sensing analysis and belongs to the positioning control field. The method comprises the following steps: defining an environment anti-interference protocol, acquiring multi-axis magnetic induction intensity based on the environment anti-interference protocol, and the environment anti-interference protocol comprises a dynamic compensation sub-protocol and a terrain adaptation sub-protocol; outputting a multi-axis voltage signal based on the multi-axis magnetic induction intensity, detecting and amplifying the multi-axis voltage signal to obtain a gain voltage signal, and outputting a gain voltage vector pointing to an electromagnetic boundary; deploying an electromagnetic boundary map according to the gain voltage signal and the gain voltage vector, and analyzing an outdoor automatic tool posture and an outdoor automatic tool coordinate; and realizing outdoor automatic tool control based on the electromagnetic boundary map, in combination with the outdoor automatic tool posture and the outdoor automatic tool coordinate. The application realizes accurate positioning of the electromagnetic boundary and the outdoor automatic tool, and is beneficial to realizing accurate control of the outdoor automatic tool.

Description

Technical Field

[0001] This invention belongs to the field of positioning and control technology, specifically relating to a method and system for controlling outdoor automatic tools based on magnetic induction analysis. Background Technology

[0002] Currently, low-cost outdoor automated tools, such as garden weeding robots, typically use a fixed-frequency alternating current or fixed-frequency electrical pulse input to a conductor. The changing current generates a magnetic field on the conductor, which serves as the electromagnetic boundary. The automated tool then uses inductors or Hall effect sensors to sense the strength of the magnetic field signal generated by the electromagnetic boundary on the ground and plane, controlling its line-following and tracking movements. In this control mode, the automated tool can only perform simple automated operations, such as random ping-pong movements within the defined electromagnetic boundary area. It cannot perform precise positioning or attitude calculation, resulting in poor reliability, weak anti-interference capabilities, and poor adaptability to complex terrain. Summary of the Invention

[0003] To address the aforementioned problems in the existing technology, this invention provides an outdoor automatic tool control method and system based on magnetic induction analysis.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] An outdoor automated tool control method based on magnetic induction analysis, the implementation of which includes the following steps:

[0006] S1: Define an environmental anti-interference protocol, and obtain multi-axis magnetic induction intensity based on the environmental anti-interference protocol. The environmental anti-interference protocol includes a dynamic compensation sub-protocol and a terrain adaptation sub-protocol.

[0007] S2: Based on the multi-axis magnetic induction intensity, output a multi-axis voltage signal, detect and amplify the multi-axis voltage signal to obtain a gain voltage signal, and output a gain voltage vector pointing to the electromagnetic boundary;

[0008] S3: Deploy an electromagnetic boundary map based on the gain voltage signal and the gain voltage vector, and analyze the outdoor automatic tool attitude and outdoor automatic tool coordinates;

[0009] S4: Based on the electromagnetic boundary map, combined with the outdoor automatic tool's posture and coordinates, outdoor automatic tool control is achieved.

[0010] Preferably, the acquisition of multiaxial magnetic induction intensity in step S1 specifically includes:

[0011] S101: Detect the initial magnetic flux density, correct the initial magnetic flux density based on the dynamic compensation sub-protocol, and obtain the multi-axis magnetic flux density;

[0012] S102: Adjust the detection accuracy of the multi-axis magnetic induction intensity based on the terrain adaptation sub-protocol.

[0013] Preferably, the dynamic compensation sub-protocol in step S101 specifically includes:

[0014] Establish a metal object distribution map, and use the metal object distribution map to obtain the distance of interfering metals;

[0015] The attenuation coefficient is retrieved from the materials database. Based on the distance to the interfering metal and the attenuation coefficient, the initial magnetic induction intensity is corrected. Mathematically, this is described as follows: Among them, B corrected For multiaxial magnetic induction intensity, B measured η is the initial magnetic flux density, η is the distortion factor, k is the attenuation coefficient, and l is the distance to the interfering metal.

[0016] Preferably, the terrain adaptation sub-protocol in step S101 specifically includes:

[0017] Capture multi-directional magnetic field changes and calculate the three-dimensional magnetic field gradient based on the multi-directional magnetic field changes;

[0018] The positioning accuracy is obtained based on the three-dimensional magnetic field gradient.

[0019] When the positioning accuracy is less than 0, the outdoor automatic tool automatically switches to low-precision mode.

[0020] Preferably, the mathematical description of the positioning accuracy is... Where Γ is the positioning accuracy, P is the system constant, G0 is the reference gradient threshold, and G is the three-dimensional magnetic field gradient.

[0021] Preferably, the acquisition of the gain voltage signal in step S2 specifically includes:

[0022] S201: Obtain the number of turns and area of ​​the multi-axis coil, and output the multi-axis voltage signal based on the number of turns, area, and magnetic induction intensity of the multi-axis coil;

[0023] S202: The multi-axis voltage signal is detected and amplified to obtain the gain voltage signal. The detection and amplification specifically includes interference band filtering, envelope extraction, and dynamic gain adjustment.

[0024] Preferably, the detection amplification in step S202 specifically includes:

[0025] Interference band filtering: Non-target frequency band interference in the multi-axis voltage signal is filtered out by a bandpass filter;

[0026] Envelope extraction: Demodulate the multi-axis voltage signal and extract the envelope to obtain the envelope voltage signal;

[0027] Dynamically adjust the gain: The gain voltage signal is obtained by dynamically adjusting the envelope voltage signal.

[0028] Preferably, step S3 specifically includes:

[0029] S301: Obtain the electromagnetic boundary distance based on any of the aforementioned gain voltage vectors;

[0030] S302: Obtain the outdoor automatic tool attitude based on the gain voltage signal, wherein the outdoor automatic tool attitude includes the tool pitch angle and the tool azimuth angle;

[0031] S303: Deploy an electromagnetic boundary map based on the electromagnetic boundary distance and the outdoor automated tool's attitude:

[0032] S304: Locate the coordinates of the outdoor automatic tool based on the electromagnetic boundary map.

[0033] Preferably, the deployment of the electromagnetic boundary map in step S303 specifically includes:

[0034] A preset map deployment time threshold is set. Within the map deployment time threshold, the electromagnetic boundary distance and the attitude of the outdoor automatic tool are collected N times, and the electromagnetic boundary coordinates of the i-th time are obtained. The electromagnetic boundary map is obtained by combining the electromagnetic boundary coordinates within the map deployment time threshold.

[0035] An outdoor automatic tool control system based on magnetic induction analysis is used to execute the outdoor automatic tool control method described above, including a magnetic induction intensity acquisition module, a voltage signal output module, a map deployment module, and a tool control module;

[0036] The magnetic induction intensity acquisition module is used to define an environmental anti-interference protocol and acquire multi-axis magnetic induction intensity based on the environmental anti-interference protocol. The environmental anti-interference protocol includes a dynamic compensation sub-protocol and a terrain adaptation sub-protocol.

[0037] The voltage signal output module is used to output a multi-axis voltage signal based on the multi-axis magnetic induction intensity, detect and amplify the multi-axis voltage signal to obtain a gain voltage signal, and output a gain voltage vector pointing to the electromagnetic boundary;

[0038] The map deployment module is used to deploy an electromagnetic boundary map based on the gain voltage signal and the gain voltage vector, and to parse the outdoor automatic tool attitude and outdoor automatic tool coordinates;

[0039] The tool control module is used to control the outdoor automatic tool based on the electromagnetic boundary map, combined with the outdoor automatic tool's posture and coordinates.

[0040] The beneficial effects of this invention are as follows:

[0041] (1) By combining dynamic compensation mechanism and bandpass filter with envelope demodulation, the anti-interference capability is significantly improved, the magnetic field strength is corrected in real time, and the environmental adaptability is enhanced.

[0042] (2) Achieving high-precision positioning in complex terrain through a three-dimensional magnetic field gradient model;

[0043] (3) Magnetic analysis is performed by a multi-axis sensor array, which enables outdoor automatic tools to have three-dimensional spatial positioning capabilities. Attached Figure Description

[0044] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0045] Figure 1 This is a flowchart illustrating the steps of an outdoor automatic tool control method based on magnetic induction analysis according to the present invention.

[0046] Figure 2 This is a schematic diagram of the multi-axis sensor array layout of the present invention. Detailed Implementation

[0047] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0048] Working principle and usage process of this invention:

[0049] Please see Figure 1 A method for controlling outdoor automated tools based on magnetic induction analysis, comprising:

[0050] S1: Define an environmental anti-interference protocol. Based on the environmental anti-interference protocol, obtain multi-axis magnetic induction intensity through a multi-axis sensor array. The environmental anti-interference protocol includes a dynamic compensation sub-protocol and a terrain adaptation sub-protocol. The multi-axis sensor array may include an X-axis sensing component, a Y-axis sensing component, and a Z-axis sensing component. The X-axis sensing component is vertically distributed along the X-axis direction, the Y-axis sensing component is vertically distributed along the Y-axis direction, and the Z-axis sensing component is vertically distributed along the Z-axis direction.

[0051] S2: Based on the multi-axis magnetic induction intensity, output a multi-axis voltage signal, detect and amplify the multi-axis voltage signal to obtain a gain voltage signal, and output a gain voltage vector pointing to the electromagnetic boundary. It should be noted that all voltage signal processing in this step is performed separately for the voltage signal of each axis.

[0052] S3: Deploy an electromagnetic boundary map based on the gain voltage signal and the gain voltage vector, and analyze the outdoor automatic tool attitude and outdoor automatic tool coordinates;

[0053] S4: Based on the electromagnetic boundary map, combined with the posture and coordinates of the outdoor automatic tool, the outdoor automatic tool is controlled. That is, the tool is determined to be within the electromagnetic boundary according to the posture and coordinates of the outdoor automatic tool, similar to the working principle of a robot vacuum cleaner. The working area (equivalent to the electromagnetic boundary) is divided, and the robot vacuum cleaner is controlled to work within the working area by locating its real-time position (equivalent to the posture and coordinates of the outdoor automatic tool).

[0054] In this embodiment, multi-axis magnetic induction intensity is obtained through a multi-axis sensor array based on the environmental anti-interference protocol, which can be implemented through the following steps:

[0055] S101: The initial magnetic induction intensity is detected by a multi-axis sensor array, the initial magnetic induction intensity including the X-axis initial magnetic induction intensity, the Y-axis initial magnetic induction intensity and the Z-axis initial magnetic induction intensity;

[0056] S102: Based on the dynamic compensation sub-protocol, the initial magnetic flux density is corrected to obtain the multi-axis magnetic flux density, which includes X-axis magnetic flux density, Y-axis magnetic flux density, and Z-axis magnetic flux density. The dynamic compensation sub-protocol is specifically as follows:

[0057] When the outdoor automatic tool is turned on, it automatically scans the surrounding environment and creates a distribution map of metal objects (i.e., marks the positions of metal objects such as manhole covers and railings). It then retrieves the distance to interfering metal objects from the metal object distribution map and calls up attenuation coefficients (e.g., steel = 0.32, aluminum = 0.18) from the material database. Based on the distance to the interfering metal objects and the attenuation coefficients, it corrects the initial magnetic induction intensity of each axis. Mathematically, this is described as follows: Among them, B corrected For multiaxial magnetic induction intensity, B measured Let be the initial magnetic flux density, η be the distortion factor (observed experimentally and determined to be (initial magnetic flux density - theoretical magnetic field value without interference) / ambient background magnetic field density), k be the attenuation coefficient, and l be the distance to the interfering metal. This is a correction term, dimensionless; Example: When an outdoor automatic tool approaches a steel object (k = 0.32, l = 1m), at this time... The value is 0.726. By combining this with the distortion factor, the amount of magnetic flux density compensation at this time can be obtained.

[0058] S103: Adjust the detection accuracy of the multi-axis magnetic induction intensity based on the terrain adaptation sub-protocol, wherein the terrain adaptation sub-protocol is specifically as follows:

[0059] When an automated tool moves outdoors, it captures changes in the magnetic field in multiple directions (i.e., the change in the magnetic field per meter of movement in the X / Y / Z directions). Based on these changes, a three-dimensional magnetic field gradient is calculated using the following formula: in, This represents the change in the magnetic field in the X direction. This represents the change in the magnetic field in the Y direction. This represents the change in the magnetic field in the Z direction;

[0060] The positioning accuracy is obtained based on the three-dimensional magnetic field gradient, mathematically described as follows: Wherein, Γ is the positioning accuracy in meters, P is the system constant obtained through equipment calibration experiments in meters, with an empirical value of 0.5m, and G0 is the reference gradient threshold, which is a preset reference value for magnetic field change, with a reference value of 5μT / m;

[0061] When the positioning accuracy is less than 0, the outdoor automatic tool automatically switches to low-precision mode.

[0062] In this embodiment, a multi-axis voltage signal is output based on the multi-axis magnetic induction intensity, the multi-axis voltage signal is detected and amplified to obtain a gain voltage signal, and a gain voltage vector pointing to the electromagnetic boundary is output. This can be implemented through the following steps:

[0063] S201: Obtain the number of turns and area of ​​the multi-axis coil, wherein the number of turns includes the number of turns on the X-axis, Y-axis, and Z-axis, and the area includes the area on the X-axis, Y-axis, and Z-axis. Output the multi-axis voltage signal based on the number of turns, the area, and the multi-axis magnetic induction intensity. Mathematically described as follows: Among them, V corrected (t) represents the output voltage at time t. Let be the output voltage along the X-axis at time t. Let be the output voltage along the Y-axis at time t. Let N be the output voltage along the Z-axis at time t. X N represents the number of turns of the X-axis coil. Y N represents the number of turns of the Y-axis coil. Z A is the number of turns of the Z-axis coil. X Let A be the area of ​​the X-axis coil. Y Let A be the area of ​​the Y-axis coil. Z The area of ​​the Z-axis coil. The magnetic flux density is along the X-axis. The magnetic flux density is y-axis. The magnetic flux density is along the Z-axis.

[0064] S202: The multi-axis voltage signal is detected and amplified to obtain the gain voltage signal. The detection and amplification specifically includes interference band filtering, envelope extraction, and dynamic gain adjustment.

[0065] The detection amplification specifically refers to:

[0066] S202-1: Non-target frequency band interference in the multi-axis voltage signal is filtered out by a bandpass filter, and the transfer function of the bandpass filter is: Where s is the complex frequency, R is the capacitance value (empirical value is 1 kΩ), and C is the capacitance value (empirical value is 10 nF); the bandpass filter allows multi-axis voltage signals within a specific frequency range to pass through, thereby suppressing power frequency interference.

[0067] S202-2: Demodulate the multi-axis voltage signal and extract the envelope to obtain an envelope voltage signal, wherein the envelope voltage signal includes an X-axis envelope voltage signal, a Y-axis envelope voltage signal, and a Z-axis envelope voltage signal, and the mathematical description of the demodulation process is V. demod (t)=V corrected (t)·cos(ω c t+φ), where V demod (t) represents the demodulated voltage signal at time t, ω c Here, ω is the carrier angular frequency, expressed in rad / s; Φ is the phase difference between the local oscillator and the multi-axis voltage signal, expressed in rad; the mathematical description of the envelope voltage signal is... Among them, V env (t) represents the envelope voltage signal at time t, and Q is the filter time constant; Example: Input multi-axis voltage signal V corrected Given that (t) = 0.1cos(2π·1000t), phase difference Φ is 0, and the local carrier is cos(2π·1000t), then the demodulated voltage signal V demod (t) is 0.005 + 0.005cos(4000πt). When the filter time constant is 0.001s, the envelope voltage signal V can be obtained. env Approximately 0.05V;

[0068] S202-3: Dynamically adjusting the gain to obtain the gain voltage signal from the envelope voltage signal, the gain voltage signal including the X-axis gain voltage signal, the Y-axis gain voltage signal and the Z-axis gain voltage signal, the mathematical description of the dynamically adjusted gain is V. out (t)=G·V env (t)+V ref , where Vout (t) represents the gain voltage signal at time t, where G is the gain factor, dimensionless, determined by the fixed resistor and the adjustable resistor, and V ref The reference voltage is used to eliminate negative voltage offset; for example, if the fixed resistor is 10 kΩ and the adjustable resistor is 1 kΩ, then the gain is 1 + (2 × 10000 / 1000) = 21, the reference voltage is 2.5V, and the envelope voltage signal V env The voltage is approximately 0.05V, at which point the gain voltage signal is 3.55V.

[0069] In this embodiment, an electromagnetic boundary map is deployed based on the gain voltage signal and the gain voltage vector, and the outdoor automated tool attitude and outdoor automated tool coordinates are analyzed. This can be implemented through the following steps:

[0070] S301: Obtain the electromagnetic boundary distance based on any of the aforementioned gain voltage vectors, mathematically described as follows: Where d(t) is the electromagnetic boundary distance at time t, in meters (m), and a is the calibration constant, in m·V. 1 / 3 For experimental calibration, V(t) is the gain voltage vector at time t; Example: If the voltage measured at a known distance of 1m is 5V, then the calibration constant is 1.71m·V. 1 / 3 When the newly measured gain voltage is 10V, the electromagnetic boundary distance is approximately 0.8m.

[0071] S302: Obtain the outdoor automatic tool attitude based on the gain voltage signal. The outdoor automatic tool attitude includes the tool pitch angle and the tool azimuth angle. The tool pitch angle is the angle between the line connecting the multi-axis sensor and the electromagnetic boundary and the horizontal plane (XY plane). The tool azimuth angle is the angle between the projection of the line connecting the multi-axis sensor and the electromagnetic boundary onto the horizontal plane and the X-axis. The formula for calculating the tool pitch angle is: in, and These are the X-axis gain voltage signal, Y-axis gain voltage signal, and Z-axis gain voltage signal, respectively. The formula for calculating the tool azimuth angle is as follows:

[0072] S303: Deploy an electromagnetic boundary map based on the electromagnetic boundary distance and the outdoor automated tool's attitude:

[0073] A preset map deployment time threshold is established. Within this threshold, the electromagnetic boundary distance and the outdoor automated tool attitude are collected N times, and the electromagnetic boundary coordinates of the i-th time are obtained. Mathematically, this is described as follows: Among them, (x i ,y i ,z i Let d be the coordinates of the electromagnetic boundary at the i-th time. iLet α be the electromagnetic boundary distance for the i-th time. i Let ζ be the tool pitch angle for the i-th iteration. i Let i be the tool azimuth angle for the i-th time, i = 1, 2, ..., N. The electromagnetic boundary map can be obtained by combining the electromagnetic boundary coordinates within the map deployment time threshold.

[0074] S304: Locate the coordinates of the outdoor automatic tool based on the electromagnetic boundary map, specifically by selecting any two points (x, y) on the electromagnetic boundary map. s ,y s ,z s ) and (x h ,y h ,z h Assume the coordinates of the outdoor automatic tool are (x... p ,y p ,z p ),but Where, d s Let d be the electromagnetic boundary distance at point s. h Let h be the electromagnetic boundary distance. Solving the system of equations will yield the real-time coordinates of the outdoor automatic tool.

[0075] An outdoor automatic tool control system based on magnetic induction analysis includes a magnetic induction intensity acquisition module, a voltage signal output module, a map deployment module, and a tool control module;

[0076] The magnetic induction intensity acquisition module is used to define an environmental anti-interference protocol and acquire multi-axis magnetic induction intensity based on the environmental anti-interference protocol. The environmental anti-interference protocol includes a dynamic compensation sub-protocol and a terrain adaptation sub-protocol.

[0077] The voltage signal output module is used to output a multi-axis voltage signal based on the multi-axis magnetic induction intensity, detect and amplify the multi-axis voltage signal to obtain a gain voltage signal, and output a gain voltage vector pointing to the electromagnetic boundary;

[0078] The map deployment module is used to deploy an electromagnetic boundary map based on the gain voltage signal and the gain voltage vector, and to parse the outdoor automatic tool attitude and outdoor automatic tool coordinates;

[0079] The tool control module is used to control the outdoor automatic tool based on the electromagnetic boundary map, combined with the outdoor automatic tool's posture and coordinates.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An outdoor automatic tool control method based on magnetic sensing analysis, characterized by, The implementation of the outdoor automatic tool control method comprises the following steps: S1: defining an environmental anti-interference protocol, acquiring a multi-axis magnetic induction intensity based on the environmental anti-interference protocol, the environmental anti-interference protocol comprising a dynamic compensation sub-protocol and a terrain adaptation sub-protocol; The acquisition of the multi-axis magnetic induction intensity specifically comprises: S101: detecting an initial magnetic induction intensity, correcting the initial magnetic induction intensity based on the dynamic compensation sub-protocol to obtain the multi-axis magnetic induction intensity; S102: adjusting the detection accuracy of the multi-axis magnetic induction intensity based on the terrain adaptation sub-protocol; S2: outputting a multi-axis voltage signal based on the multi-axis magnetic induction intensity, detecting and amplifying the multi-axis voltage signal to obtain a gain voltage signal, and outputting a gain voltage vector pointing to an electromagnetic boundary; S3: deploying an electromagnetic boundary map according to the gain voltage signal and the gain voltage vector, and resolving an outdoor automatic tool attitude and an outdoor automatic tool coordinate; S4: based on the electromagnetic boundary map, combining the outdoor automatic tool attitude and the outdoor automatic tool coordinate, realizing outdoor automatic tool control.

2. The outdoor automatic tool control method according to claim 1, wherein The dynamic compensation sub-protocol in step S101 specifically comprises: establishing a metal object distribution map, and calling the metal object distribution map to obtain a disturbance metal distance; retrieving an attenuation coefficient from a material database, correcting the initial magnetic induction based on the interfering metal distance and the attenuation coefficient, mathematically described as where B corrected is the multi-axis magnetic induction, B measured is the initial magnetic induction, η is a distortion factor, k is an attenuation coefficient, and l is the interfering metal distance.

3. The outdoor automatic tool control method according to claim 1, wherein The terrain adaptation sub-protocol in step S101 specifically comprises: capturing a multi-direction magnetic field change amount, calculating a three-dimensional magnetic field gradient based on the multi-direction magnetic field change amount; obtaining positioning accuracy according to the three-dimensional magnetic field gradient; when the positioning accuracy is less than 0, the outdoor automatic tool automatically switches to a low-precision mode.

4. The outdoor automatic tool control method according to claim 3, wherein The mathematical description of the positioning accuracy is wherein is the positioning accuracy, P is a system constant, G0 is a reference gradient threshold value, and G is a three-dimensional magnetic field gradient.

5. The outdoor automatic tool control method according to claim 1, wherein The acquisition of the gain voltage signal in step S2 specifically comprises: S201: acquiring a multi-axis coil number of turns and a multi-axis coil area, and outputting the multi-axis voltage signal according to the multi-axis coil number of turns, the multi-axis coil area and the multi-axis magnetic induction intensity; S202: detecting and amplifying the multi-axis voltage signal to obtain the gain voltage signal, and the detection and amplification specifically comprises interference frequency band filtering, envelope extraction and dynamic gain adjustment.

6. The outdoor automatic tool control method according to claim 5, wherein The detection and amplification in step S202 specifically comprises: interference frequency band filtering: filtering out non-target frequency band interference in the multi-axis voltage signal through a band-pass filter; envelope extraction: demodulating the multi-axis voltage signal and extracting an envelope to obtain an envelope voltage signal; dynamic gain adjustment: dynamically adjusting the gain of the envelope voltage signal to obtain the gain voltage signal.

7. The outdoor automatic tool control method according to claim 1, wherein The step S3 specifically comprises: S301: acquiring an electromagnetic boundary distance according to any gain voltage vector; S302: acquiring an outdoor automatic tool attitude based on the gain voltage signal, the outdoor automatic tool attitude comprising a tool pitch angle and a tool azimuth angle; S303: deploying an electromagnetic boundary map based on the electromagnetic boundary distance and the outdoor automatic tool attitude: S304: positioning the outdoor automatic tool coordinate according to the electromagnetic boundary map.

8. The outdoor automatic tool control method according to claim 7, wherein The deployment of the electromagnetic boundary map in step S303 specifically comprises: A preset map deployment time threshold is set, the electromagnetic boundary distance and the outdoor automatic tool posture are collected N times within the map deployment time threshold, and the i-th electromagnetic boundary coordinate is obtained. The electromagnetic boundary map is obtained by collecting the electromagnetic boundary coordinates within the map deployment time threshold.

9. An outdoor automatic tool control system based on magnetic induction analysis, characterized by The system is applied to the outdoor automatic tool control method in any one of claims 1-8, and includes a magnetic induction intensity acquisition module, a voltage signal output module, a map deployment module, and a tool control module. The magnetic induction intensity acquisition module is used to define an environment anti-interference protocol, and to acquire multi-axis magnetic induction intensity based on the environment anti-interference protocol. The environment anti-interference protocol includes a dynamic compensation sub-protocol and a terrain adaptation sub-protocol. The acquisition of the multi-axis magnetic induction intensity specifically includes detecting an initial magnetic induction intensity, correcting the initial magnetic induction intensity based on the dynamic compensation sub-protocol, and obtaining the multi-axis magnetic induction intensity. The detection accuracy of the multi-axis magnetic induction intensity is adjusted based on the terrain adaptation sub-protocol. The voltage signal output module is used to output a multi-axis voltage signal based on the multi-axis magnetic induction intensity, to detect and amplify the multi-axis voltage signal to obtain a gain voltage signal, and to output a gain voltage vector pointing to the electromagnetic boundary. The map deployment module is used to deploy an electromagnetic boundary map according to the gain voltage signal and the gain voltage vector, and to analyze the outdoor automatic tool posture and the outdoor automatic tool coordinate. The tool control module is used to realize outdoor automatic tool control based on the electromagnetic boundary map, in combination with the outdoor automatic tool posture and the outdoor automatic tool coordinate.

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