Magnetic stripe detection method and mobile device

Abstract

The embodiment of the invention provides a magnetic stripe detection method and mobile equipment. The method comprises the steps of collecting voltage signals of each Hall element in a Hall element array in real time, calculating voltage change values of the voltage signals compared with the voltage signals without a magnetic field, generating a magnetic field distribution curve based on the voltage change values, and analyzing the magnetic field distribution curve to judge whether an effective magnetic stripe exists below the Hall array or not. And when the existence of the effective magnetic stripe is determined, the relative position of the center of the magnetic stripe in the Hall array is calculated according to the peak value position of the curve, and the method is used for achieving the effects of improving the accuracy and reliability of the midpoint positioning of the magnetic stripe and improving the navigation reliability.

Description

Technical Field

[0001] The present application relates to the field of magnetic navigation technology, and in particular to a magnetic stripe detection method and a mobile device. Background Art

[0002] Magnetic navigation technology is a technology that guides the device along a preset path by calculating the position of the midpoint of a magnetic strip pre-laid on the ground in the magnetic navigation sensor coordinate system.

[0003] In the prior art, the magnetic field of the magnetic stripe is detected by a Hall sensor array, and the output voltage of each sensor is compared to see if it exceeds a preset threshold. If so, the corresponding channel is set to be magnetic, otherwise it is set to be non-magnetic. The midpoint position and degree of deviation of the magnetic stripe are determined based on the number, distribution and position of all channels in the Hall sensor array that are set to be magnetic.

[0004] However, the existing technology realizes magnetic stripe detection by outputting the result of whether each channel in the Hall sensor array is magnetic or not, so that the positioning accuracy is limited by the sensor spacing. When the sensor spacing is large, the accuracy and reliability of the magnetic stripe midpoint positioning result are easily reduced. Summary of the Invention

[0005] The embodiments of the present application provide a magnetic stripe detection method and a mobile device to improve the accuracy and reliability of magnetic stripe midpoint positioning.

[0006] In a first aspect, an embodiment of the present application provides a magnetic stripe detection method, comprising:

[0007] Collect the voltage signals output by each Hall element in the Hall array in real time and determine the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment;

[0008] The voltage change value corresponding to each Hall element is processed to construct a magnetic field distribution curve, and based on the magnetic field distribution curve, it is determined whether there is a valid magnetic stripe under the Hall array;

[0009] If there is a valid magnetic stripe, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated based on the peak position of the magnetic field distribution curve.

[0010] The magnetic stripe detection method provided in the embodiment of the present application constructs a continuous magnetic field distribution curve based on the difference between the voltage signals of each Hall element collected in real time and the voltage signal of the non-magnetic environment, and judges the relative position of the effective magnetic stripe and the midpoint of the magnetic stripe in the Hall array based on the magnetic field distribution curve. This solves the discrete limitations of traditional digital threshold judgment methods, improves the mobile device's positioning accuracy of the magnetic stripe midpoint, and improves navigation reliability.

[0011] According to one embodiment of the present application, determining whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve specifically includes:

[0012] By performing curve fitting on the magnetic field distribution curve;

[0013] When the curve fitting result is a Gaussian curve, it is determined whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve.

[0014] The embodiment of the present application performs curve fitting on the magnetic field distribution curve generated by the signal change value. When the fitting result indicates a Gaussian curve, the embodiment accurately distinguishes between valid magnetic stripes and interference signals (such as stray magnetic fields) based on the magnetic field distribution corresponding to the Gaussian curve characteristics, thereby reducing the false positive rate, ensuring the accurate identification of signals that meet the magnetic field characteristics of the magnetic stripe, and improving the accuracy and reliability of valid magnetic stripe judgment.

[0015] According to one embodiment of the present application, determining whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve specifically includes:

[0016] Determine the reference value by calculating the average value of the voltage change values ​​within the preset voltage change range;

[0017] By calculating the deviation between the maximum voltage change value and the reference value, it is determined based on the deviation whether the current magnetic field distribution curve meets the amplitude condition and the width condition. If both the amplitude condition and the width condition are met, it is determined that there is a valid magnetic stripe under the Hall array;

[0018] Otherwise, it is determined that no valid magnetic stripe exists.

[0019] In the embodiment of the present application, after removing the maximum voltage change value and the minimum voltage change value, a reference value is obtained by calculating the average value of the remaining voltage change values, and two deviation values ​​are obtained by subtracting the maximum voltage change value and the minimum voltage change value from the reference value respectively. Based on the obtained deviation values ​​and each voltage change value and in combination with the amplitude condition and the width condition, it is determined whether there is a valid magnetic stripe, thereby avoiding interference from extreme voltage change values. At the same time, by analyzing the characteristics of the voltage change value, the magnetic field strength of the magnetic stripe is quantified, thereby further improving the accuracy and reliability of the valid magnetic stripe judgment result.

[0020] According to one embodiment of the present application, determining whether the current magnetic field distribution curve meets the amplitude condition and the width condition based on the deviation specifically includes:

[0021] When the deviation exceeds the preset amplitude threshold, the amplitude condition is met;

[0022] The number of Hall elements through which the voltage change value passes from the maximum voltage change value to the reference value is determined, and when the number is within a preset width range, the width condition is met.

[0023] In the embodiment of the present application, when the deviation exceeds a preset amplitude threshold and the number of Hall elements passing through is within a preset width range, it is determined that the Gaussian curve characteristics are satisfied, and that the current magnetic field distribution curve satisfies the amplitude condition and the width condition, and that there is a valid magnetic stripe under the current Hall array, thereby achieving effective detection of thin stripes and improving the accuracy and reliability of the detection results by clarifying the quantitative parameters.

[0024] According to one embodiment of the present application, calculating the relative position of the midpoint of the magnetic stripe in the Hall array according to the peak position of the magnetic field distribution curve specifically includes:

[0025] Determine the sub-peak positions of two Hall elements adjacent to the peak position in the Hall array according to the peak position of the magnetic field distribution curve. The peak position is the position of the Hall element in the Hall array where the voltage change value deviates the most from the reference value.

[0026] The position of the midpoint of the magnetic stripe relative to the Hall array is determined based on the peak position and sub-peak position.

[0027] The embodiment of the present application compares the deviation of each voltage change value with the reference value, takes the position corresponding to the maximum deviation as the peak position, and determines the two adjacent sub-peak positions based on the peak position. Based on the peak position and the voltage change values ​​of the peak position and the sub-peak position, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated, thereby realizing the positioning of the midpoint of the magnetic stripe, solving the limitation of the spacing of the Hall elements on the positioning results in the prior art, improving the accuracy and reliability of the positioning of the midpoint of the magnetic stripe, and meeting the scenario requirements of precise obstacle avoidance.

[0028] According to one embodiment of the present application, when it is determined that a valid magnetic stripe exists, an average value of the voltage change value in the entire Hall array is calculated;

[0029] Determine a maximum voltage change value and a minimum voltage change value among the voltage change values, and calculate a first difference between the maximum voltage change value and an average value, and a second difference between the average value and the minimum voltage change value;

[0030] The polarity of the magnetic stripe is determined based on the first difference and the second difference.

[0031] The embodiment of the present application adds a function of determining the polarity of the magnetic stripe on the basis of determining the existence of a valid magnetic stripe, and does not require additional hardware for detecting the polarity of the magnetic stripe (such as a dedicated magnetic sensor). The polarity information of the valid magnetic stripe can be obtained only through voltage signal analysis, thereby expanding the application dimensions / application scenarios of magnetic navigation and enriching the dimensions of navigation instructions. For example, the navigation path branch can be controlled based on the polarity of the magnetic stripe, reducing hardware layout and reducing the complexity of mobile device integration.

[0032] According to one embodiment of the present application, determining the polarity of the magnetic stripe according to the first difference and the second difference specifically includes:

[0033] If the first difference is greater than the second difference, it is determined that the curve formed by the voltage change value in the entire Hall array opens downward, and the polarity of the effective magnetic stripe pointing upward is the N pole;

[0034] If the first difference is smaller than the second difference, it is determined that the curve formed by the voltage change value in the entire Hall array opens upward, and the upward polarity of the effective magnetic strip is the S pole.

[0035] In the embodiment of the present application, the first difference and the second difference are obtained by calculating the difference between the maximum voltage change value and the minimum voltage change value in the voltage change value and the average value respectively. The opening direction of the overall shape of the Gaussian curve is determined by comparing the sizes of the first difference and the second difference, and the polarity of the magnetic stripe is further determined. This avoids misjudgment of the polarity of the magnetic stripe due to local magnetic field anomalies (such as uneven magnetic field at the edge of the magnetic stripe), thereby improving the accuracy and reliability of the magnetic stripe polarity detection results.

[0036] According to one embodiment of the present application, after determining the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment, for any Hall element, if the voltage change value corresponding to the Hall element is 0, it is determined that there is no valid magnetic stripe under the Hall element;

[0037] Otherwise, it is determined that there is a valid magnetic stripe under the Hall element and the polarity of the magnetic stripe is determined.

[0038] The embodiment of the present application is directed to a single Hall element, and determines whether a corresponding voltage change value is 0 to determine whether there is a valid magnetic stripe under the Hall element, and determines the corresponding polarity. This supplements the magnetic stripe detection results of the above embodiment through the global magnetic field distribution curve. For example, when the mobile device deviates from the midpoint of the magnetic stripe (for example, only one Hall element in the Hall array covers the magnetic stripe), this method can still detect whether there is a valid magnetic stripe under the Hall array and determine the corresponding polarity. This expands the application scenarios of magnetic stripe detection, improves the continuity of magnetic stripe detection in complex terrain (such as curves and magnetic stripe joints), and further improves navigation continuity and reliability.

[0039] According to one embodiment of the present application, determining the polarity of a magnetic stripe specifically includes:

[0040] If the voltage change value corresponding to the Hall element is negative, it is determined that the upward polarity of the magnetic strip is the S pole;

[0041] If the voltage change value corresponding to the Hall element is positive, it is determined that the upward polarity of the magnetic stripe is the N pole.

[0042] The embodiment of the present application directly compares the voltage change value with 0 to determine the polarity of the magnetic stripe based on the positive and negative attributes of the voltage change value, thereby improving the efficiency and real-time performance of polarity judgment, ensuring that navigation instructions are adjusted in a timely manner based on the judgment results, and further improving navigation continuity and reliability.

[0043] According to one embodiment of the present application, the preset amplitude threshold is set according to the magnetic field strength characteristics of the magnetic stripe, and the preset width range is set according to the physical width of the magnetic stripe.

[0044] Since the preset width range and the preset amplitude threshold are too large or too small, they do not conform to the characteristics of the Gaussian curve, which can easily lead to the misjudgment that there is no valid magnetic stripe under the Hall array. Therefore, the embodiment of the present application associates the preset amplitude threshold and the preset width range with the physical characteristics of the magnetic stripe (magnetic field strength, width), so that the judgment standard matches the actual magnetic stripe, avoids the set preset amplitude threshold and preset width range having adaptation deviations for different magnetic stripes, reduces the possibility of misjudgment, enhances the flexibility of magnetic stripe detection and the accuracy of detection results, and improves the robustness and accuracy of mobile devices.

[0045] According to one embodiment of the present application, after the relative position of the midpoint of the magnetic stripe in the Hall array and the polarity of the magnetic stripe are determined, the relative position and the polarity of the magnetic stripe are output in real time for use in navigation control of a mobile device.

[0046] After obtaining the relative position of the midpoint of the magnetic stripe in the Hall array and the corresponding magnetic stripe polarity through the above embodiment, the embodiment of the present application outputs the midpoint position and polarity of the magnetic stripe for navigation of the mobile device, providing key parameters for the navigation of the mobile device and ensuring the accurate operation / movement of the mobile device.

[0047] In a second aspect, an embodiment of the present application provides a mobile device, comprising: a controller;

[0048] A controller is used to execute any magnetic stripe detection method as described in the first aspect.

[0049] The magnetic stripe detection method and mobile device provided in the embodiments of the present application collect the voltage signal of each Hall element in the Hall element array in real time, calculate the voltage change value of these voltage signals compared to the state without a magnetic field, generate a magnetic field distribution curve based on the voltage change value, analyze the magnetic field distribution curve to determine whether there is a valid magnetic stripe under the Hall array, and when it is determined that there is a valid magnetic stripe, calculate the relative position of the center of the magnetic stripe in the Hall array based on the peak position of the curve, thereby solving the discrete limitation of the traditional digital threshold judgment method, achieving the effect of improving the accuracy and reliability of the magnetic stripe midpoint positioning and improving the navigation reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0051] Figure 1 A schematic diagram of a scenario for the magnetic stripe detection method provided in this application;

[0052] Figure 2 A schematic diagram of the flow of the magnetic stripe detection method provided in this application;

[0053] Figure 3 Schematic diagram of curve fitting provided in this application Figure 1 ;

[0054] Figure 4 Schematic diagram of curve fitting provided in this application Figure 2 ;

[0055] Figure 5 Schematic diagram of curve fitting provided in this application Figure 3 ;

[0056] Figure 6 A schematic diagram of the structure of the controller provided in this application;

[0057] Figure 7 A schematic diagram of the structure of the mobile device provided in this application.

[0058] Reference numerals:

[0059] 100: workshop floor;

[0060] 200: magnetic stripe;

[0061] 400: Mobile device.

[0062] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0063] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0064] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0065] In the fields of automated guided vehicles (AGVs), smart warehousing, service robots, etc., magnetic navigation technology is widely used for path guidance of mobile devices. For example, the mobile device detects the magnetic stripes on the ground through the Hall array to calculate the position of the midpoint of the magnetic strips pre-laid on the ground in the magnetic navigation sensor coordinate system, thereby guiding the mobile device to move along a preset path.

[0066] Currently, existing magnetic stripe detection technology uses a digital Hall effect sensor array to roughly locate the magnetic stripe's position by determining whether the voltage signal output by each sensor exceeds a preset threshold. For example, if the sensor output voltage signal exceeds the preset threshold, the location is determined to be "magnetic," otherwise, "non-magnetic." If the sensor output voltage signal exceeds the preset threshold, the magnetic stripe's midpoint is estimated based on the distribution of the sensors that detected "magnetic." However, digital Hall effect sensor arrays comprise multiple sensors, each separated by a certain distance (typically 10-20 mm). This can easily lead to positioning errors, resulting in detection results that are affected by the sensor spacing, resulting in low detection accuracy and difficulty meeting high-precision navigation requirements. Furthermore, the presence of stray magnetic fields in the external environment increases the likelihood of exceeding the preset threshold, further reducing detection accuracy and causing navigation errors. Furthermore, existing technology can only detect the presence of a magnetic stripe, making it difficult to effectively adapt to complex routes that require polarity encoding (e.g., intersections where magnetic stripes of different polarities are used to mark turn instructions).

[0067] In view of the above scenarios, it can be seen that the existing technology has technical problems such as insufficient accuracy and reliability of magnetic stripe detection and poor scenario adaptability.

[0068] The magnetic stripe detection method provided by the present application is intended to solve the above technical problems of the prior art. Specifically, by collecting the voltage signal of each Hall element in the Hall array in real time and determining its voltage change value relative to the voltage signal in a non-magnetic environment, a magnetic field distribution curve is constructed according to the voltage change value corresponding to each Hall element, and the magnetic field distribution curve is curve fitted. When the curve fitting result is a Gaussian curve, a reference value is determined based on the voltage change value, and the deviation between the maximum voltage change value and the reference value is calculated, and the deviation is compared with a preset amplitude threshold. At the same time, the number of Hall elements through which the voltage change value passes from the maximum voltage change value to the reference value is determined, and the number of Hall elements is compared with a preset width range. If the deviation exceeds the preset amplitude threshold and the number of Hall elements is within the preset width range, it is determined that there is a valid magnetic stripe, and through Determine the position of the Hall element with the largest deviation from the reference value in the voltage change value in the Hall array to obtain the peak position. Based on the peak position, determine the positions of the two adjacent Hall elements in the Hall array as sub-peak positions, and then determine the relative position of the midpoint of the magnetic stripe in the Hall array coordinate system according to the peak position and sub-peak position, thereby avoiding the limitation of the magnetic stripe positioning accuracy caused by the sensor spacing, improving the accuracy and reliability of the magnetic stripe detection results, and making the application of the magnetic navigation system in various scenarios more stable and reliable. At the same time, the polarity of the magnetic stripe is determined by the difference between the maximum voltage change value and the minimum voltage change value and the average value of the voltage change value in the entire Hall array, without the need for additional means to distinguish the polarity of the magnetic stripe, thereby improving the adaptability to scenarios.

[0069] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0070] In the automated workshops of the intelligent manufacturing industry, magnetic strips or continuous magnetic strips need to be laid on the ground as navigation paths for mobile devices (such as automatic guided vehicles), thereby realizing unmanned material transportation. Figure 1 A schematic diagram of a magnetic stripe detection method provided in this application, such as Figure 1 As shown, the workshop floor 100 serves as a driving carrier for the mobile device 400. In order to ensure that the mobile device moves stably along the preset route, a magnetic strip 200 needs to be laid in the middle of the floor, and a Hall sensor array needs to be installed at the bottom of the mobile device to identify the magnetic strip through the Hall sensor array, thereby controlling the forward trajectory of the mobile device.

[0071] For example, after the mobile device is started, the Hall sensor array detects the magnetic field signal generated by the magnetic stripe in real time, and dynamically adjusts its own driving posture by calculating the position of the midpoint of the magnetic stripe in the Hall sensor array, ensuring precise movement along the magnetic stripe path and avoiding material transportation delays or collisions due to path deviation.

[0072] The existing technology uses a digital threshold judgment method to calculate the position of the magnetic stripe's midpoint in the Hall sensor array. This method compares the output voltage of each Hall element / Hall sensor to see if it exceeds a preset threshold. Those Hall elements / Hall sensors that exceed the threshold are marked as "magnetic," while those that do not exceed the threshold are marked as "non-magnetic." The magnetic stripe's midpoint is then estimated based on the distribution range of the "magnetic" Hall elements / Hall sensors to achieve the location of the magnetic stripe's midpoint. However, because the existing technology method can only obtain discrete "magnetic / non-magnetic" signals, the positioning accuracy of the existing technology is limited by the spacing of the Hall elements / Hall sensors, making it difficult to meet the requirements of high-precision navigation. This can easily lead to positioning errors exceeding the allowable range for practical applications, thereby affecting the path navigation accuracy of the mobile device and even causing the mobile device to deviate from the preset route and / or collide with obstacles.

[0073] Figure 2 A flow chart of the magnetic stripe detection method provided in this application is shown as follows: Figure 2 As shown, the method includes:

[0074] S201 , collecting voltage signals output by each Hall element in the Hall array in real time, and determining a voltage change value of each voltage signal relative to a voltage signal in a non-magnetic environment.

[0075] More specifically, the voltage signals output by each Hall element in the Hall array are collected in real time and in sequence through an analog-to-digital converter, and each voltage signal is compared with the voltage signal in a non-magnetic environment to determine the corresponding voltage change value, thereby obtaining the voltage change value corresponding to each Hall element in the Hall array.

[0076] For example, in a smart warehouse mobile device navigation scenario, the mobile device is equipped with 16 Hall arrays (numbered 1-16) on its bottom, which detect magnetic strips pre-installed on the ground. In a non-magnetic environment, the voltage signal is 0V. The output voltage signal of each Hall element in the Hall array is collected in sequence according to its number, and the difference between the output voltage and 0V is calculated to obtain the voltage change value corresponding to each Hall element.

[0077] S202 , constructing a magnetic field distribution curve by processing the voltage change value corresponding to each Hall element, and determining whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve.

[0078] More specifically, the voltage change value of each Hall element is smoothed to construct a magnetic field distribution curve, in which the horizontal axis represents the element number and the vertical axis represents the voltage change value.

[0079] Optionally, judging whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve specifically includes: performing curve fitting on the magnetic field distribution curve; when the result of the curve fitting is a Gaussian curve, judging whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve.

[0080] In a possible embodiment, the voltage change value of each Hall element is fitted using the least squares method to obtain a function expression of the fitting curve. If the function expression is a Gaussian curve, the effective magnetic strip is further determined based on the characteristics of the Gaussian curve.

[0081] The embodiment of the present application performs curve fitting on the magnetic field distribution curve generated by the signal change value. When the fitting result indicates a Gaussian curve, the embodiment accurately distinguishes between valid magnetic stripes and interference signals (such as stray magnetic fields) based on the magnetic field distribution corresponding to the Gaussian curve characteristics, thereby reducing the false positive rate, ensuring the accurate identification of signals that meet the magnetic field characteristics of the magnetic stripe, and improving the accuracy and reliability of valid magnetic stripe judgment.

[0082] Optionally, judging whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve specifically includes: determining a reference value by calculating the average value of the voltage change value within a preset voltage change range; calculating the deviation between the maximum voltage change value and the reference value, and determining whether the current magnetic field distribution curve meets the amplitude condition and the width condition based on the deviation; if both the amplitude condition and the width condition are met, determining that there is a valid magnetic stripe under the Hall array; otherwise, determining that there is no valid magnetic stripe.

[0083] In one possible embodiment, the Hall element number corresponding to the largest voltage change value (e.g., number 5) and the Hall element number corresponding to the smallest voltage change value (e.g., number 10) among the 16 voltage change values ​​corresponding to the 16 Hall elements in the Hall array are obtained. A reference value is obtained by calculating the voltage change values ​​corresponding to the 14 Hall elements other than numbers 5 and 10. The difference between the voltage change value corresponding to number 5 and the reference value is then calculated to obtain the deviation between the maximum voltage change value and the reference value. The difference between the voltage change value corresponding to number 10 and the reference value is then calculated to obtain the deviation between the minimum voltage change value and the reference value. Based on the two obtained deviation values ​​and the voltage change values, it is determined whether the current magnetic field distribution curve meets the amplitude condition and the width condition. If both the amplitude condition and the width condition are met, it is determined that a valid magnetic stripe exists beneath the Hall array.

[0084] In the embodiment of the present application, after removing the maximum voltage change value and the minimum voltage change value, a reference value is obtained by calculating the average value of the remaining voltage change values, and two deviation values ​​are obtained by subtracting the maximum voltage change value and the minimum voltage change value from the reference value respectively. Based on the obtained deviation values ​​and each voltage change value and in combination with the amplitude condition and the width condition, it is determined whether there is a valid magnetic stripe, thereby avoiding interference from extreme voltage change values. At the same time, by analyzing the characteristics of the voltage change value, the magnetic field strength of the magnetic stripe is quantified, thereby further improving the accuracy and reliability of the valid magnetic stripe judgment result.

[0085] Optionally, determining whether the current magnetic field distribution curve satisfies an amplitude condition and a width condition based on the deviation specifically includes: when the deviation exceeds a preset amplitude threshold, the amplitude condition is satisfied;

[0086] The number of Hall elements through which the voltage change value passes from the maximum voltage change value to the reference value is determined, and when the number is within a preset width range, the width condition is met.

[0087] Figures 3 to 5 These are all schematic diagrams of curve fitting, where the Hall array includes 15 Hall elements. Figure 3 The horizontal axis represents the number of the Hall element, which is 1-15 from left to right. The vertical axis represents the voltage change value of each Hall element. The solid line is used to represent the broken line graph formed by the voltage change value of each Hall element (that is, the magnetic field distribution curve), and the dotted line is used to represent the curve obtained by fitting the magnetic field distribution curve.

[0088] In one possible embodiment, Figure 3 Schematic diagram of curve fitting provided in this application Figure 1 ,like Figure 3 As shown, in Figure 3 In the example, if the voltage change value of the Hall element numbered 10 is not within the preset voltage change range, the voltage change values ​​corresponding to the Hall elements numbered 1-9 and 11-15 are averaged to obtain the reference value, and then the number of the Hall element with the largest voltage change value is determined ( Figure 3 12 is shown), and the difference between the voltage change value of Hall element 12 and the reference value is calculated to obtain a deviation. When the deviation is greater than a preset amplitude condition, the number of Hall elements passed by the voltage change value of Hall element 12 during the transition to the reference value is further determined, and a determination is made as to whether the number of passed Hall elements is within a preset width range. If the deviation is greater than the preset amplitude condition and the number of passed Hall elements is within the preset width range, it is determined that the Gaussian curve characteristics are met, and the current magnetic field distribution curve meets the amplitude and width conditions. At this point, it is determined that a valid magnetic stripe exists under the current Hall array.

[0089] Alternatively, as Figure 3As shown, based on the fitted curve, a line graph formed by the voltage change values ​​of the Hall elements numbered 8-12 can be obtained, and a Gaussian curve (i.e., the dotted line portion) is obtained after fitting.

[0090] Alternatively, as Figure 3 As shown in FIG, the polarity of the magnetic stripe is determined based on the opening direction of the Gaussian curve obtained after fitting. For example, when the opening of the Gaussian curve is downward, the polarity of the magnetic stripe pointing upward is determined to be the N pole; when the opening of the Gaussian curve is upward, the polarity of the magnetic stripe pointing upward is determined to be the S pole.

[0091] Optionally, it also includes: when it is determined that there is a valid magnetic stripe, calculating the average value of the voltage change value in the entire Hall array; determining the maximum voltage change value and the minimum voltage change value among the voltage change values, and calculating a first difference between the maximum voltage change value and the average value, and a second difference between the average value and the minimum voltage change value; determining the polarity of the magnetic stripe based on the first difference and the second difference.

[0092] Optionally, the polarity of the magnetic stripe is determined based on the first difference and the second difference, specifically including: if the first difference is greater than the second difference, determining that the curve formed by the voltage change value in the entire Hall array opens downward, and the polarity of the effective magnetic stripe upward is the N pole; if the first difference is less than the second difference, determining that the curve formed by the voltage change value in the entire Hall array opens upward, and the polarity of the effective magnetic stripe upward is the S pole.

[0093] In one possible embodiment, Figure 3 As shown, based on the results of the above embodiment, when it is determined that there is a valid magnetic stripe under the current Hall array, the average voltage change values ​​of the 15 Hall elements are calculated, and the number of the maximum voltage change value (i.e., number 12) and the number of the minimum voltage change value (i.e., number 10) among the voltage change values ​​are determined. Then, the difference between the voltage change value of number 12 and the average value is calculated to obtain a first difference value, and the difference between the voltage change value of number 10 and the average value is calculated to obtain a second difference value. The first difference value is compared with the second difference value. When the first difference value is greater than the second difference value, it is determined that the opening direction of the current fitted Gaussian curve is downward, and the polarity of the valid magnetic stripe is determined to be the N pole. When the first difference value is less than the second difference value, it is determined that the opening direction of the current fitted Gaussian curve is upward, and the polarity of the valid magnetic stripe is determined to be the S pole.

[0094] The embodiment of the present application adds a function of determining the polarity of the magnetic stripe on the basis of determining the existence of a valid magnetic stripe, and does not require additional hardware for detecting the polarity of the magnetic stripe (such as a dedicated magnetic sensor). The polarity information of the valid magnetic stripe can be obtained only through voltage signal analysis, thereby expanding the application dimensions / application scenarios of magnetic navigation and enriching the dimensions of navigation instructions. For example, the navigation path branch can be controlled based on the polarity of the magnetic stripe, reducing hardware layout and reducing the complexity of mobile device integration.

[0095] The embodiment of the present application calculates the difference between the maximum voltage change value and the minimum voltage change value in the voltage change value and the average value, respectively, to obtain a first difference and a second difference. By comparing the sizes of the first difference and the second difference, the opening direction of the overall shape of the Gaussian curve is determined, and the polarity of the magnetic stripe is further determined, thereby avoiding misjudgment of the polarity of the magnetic stripe due to local magnetic field anomalies (such as uneven magnetic field at the edge of the magnetic stripe), and improving the accuracy and reliability of the magnetic stripe polarity detection results.

[0096] Optionally, the preset amplitude threshold is set according to the magnetic field strength characteristics of the magnetic stripe, and the preset width range is set according to the physical width of the magnetic stripe.

[0097] For example, the preset amplitude threshold can be increased for strong magnetic field magnetic stripes, and the preset width range can be reduced for narrow magnetic stripes, thereby enhancing the adaptability of the magnetic stripe detection method to different types of magnetic stripes.

[0098] Since the preset width range and the preset amplitude threshold are too large or too small, they do not conform to the characteristics of the Gaussian curve, which can easily lead to the misjudgment that there is no valid magnetic stripe under the Hall array. Therefore, the embodiment of the present application associates the preset amplitude threshold and the preset width range with the physical characteristics of the magnetic stripe (magnetic field strength, width), so that the judgment standard matches the actual magnetic stripe, avoids the set preset amplitude threshold and preset width range having adaptation deviations for different magnetic stripes, reduces the possibility of misjudgment, enhances the flexibility of magnetic stripe detection and the accuracy of detection results, and improves the robustness and accuracy of mobile devices.

[0099] The embodiment of the present application also provides another method for determining a valid magnetic stripe and the polarity of the magnetic stripe, that is, after determining the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment, for any Hall element, if the voltage change value corresponding to the Hall element is 0, it is determined that there is no valid magnetic stripe under the Hall element; otherwise, it is determined that there is a valid magnetic stripe under the Hall element, and the polarity of the magnetic stripe is determined.

[0100] Optionally, determining the polarity of the magnetic stripe specifically includes: if the voltage change value corresponding to the Hall element is a negative value, determining the upward polarity of the magnetic stripe to be the S pole; if the voltage change value corresponding to the Hall element is a positive value, determining the upward polarity of the magnetic stripe to be the N pole.

[0101] In one possible embodiment, after collecting the voltage signal of each Hall element and subtracting it from the voltage signal in a non-magnetic environment, a voltage change value corresponding to each Hall element is obtained, and each voltage change value is compared with 0. When the voltage change value is 0, it is determined that there is no valid magnetic stripe beneath the Hall element corresponding to the voltage change value; when the voltage change value of the Hall element is not 0 and is less than 0 (a negative value), it is determined that there is a valid magnetic stripe beneath the Hall element corresponding to the voltage change value, and the upward polarity of the valid magnetic stripe is the S pole; when the voltage change value of the Hall element is not 0 and is greater than 0 (a positive value), it is determined that there is a valid magnetic stripe beneath the Hall element corresponding to the voltage change value, and the upward polarity of the valid magnetic stripe is the N pole.

[0102] The embodiment of the present application is directed to a single Hall element, and determines whether a corresponding voltage change value is 0 to determine whether there is a valid magnetic stripe under the Hall element, and determines the corresponding polarity. This supplements the magnetic stripe detection results of the above embodiment through the global magnetic field distribution curve. For example, when the mobile device deviates from the midpoint of the magnetic stripe (for example, only one Hall element in the Hall array covers the magnetic stripe), this method can still detect whether there is a valid magnetic stripe under the Hall array and determine the corresponding polarity. This expands the application scenarios of magnetic stripe detection, improves the continuity of magnetic stripe detection in complex terrain (such as curves and magnetic stripe joints), and further improves navigation continuity and reliability.

[0103] The embodiment of the present application directly compares the voltage change value with 0 to determine the polarity of the magnetic stripe based on the positive and negative attributes of the voltage change value, thereby improving the efficiency and real-time performance of polarity judgment, ensuring that navigation instructions are adjusted in a timely manner based on the judgment results, and further improving navigation continuity and reliability.

[0104] In one possible embodiment, Figure 4 Schematic diagram of curve fitting provided in this application Figure 2 ,like Figure 4 As shown, determine the voltage change value that is not within the preset voltage change range, calculate the average value of all voltage change values ​​except this voltage change value, and obtain the reference value. Then determine the maximum voltage change value, and calculate the difference between the maximum voltage change value and the reference value to obtain the deviation, and determine the Hall element number corresponding to the maximum voltage change value, which is the number of Hall elements that the Hall element corresponding to the number passes through when transitioning from the maximum voltage change value to the reference value. Figure 4 , determine that the deviation is not greater than the preset amplitude condition, and the number of Hall elements passed is not within the preset width range, determine that the Gaussian curve characteristics are not satisfied, and determine that the current magnetic field distribution curve meets the amplitude condition and the width condition. At this time, it is determined that there is no valid magnetic stripe under the current Hall array.

[0105] In one possible embodiment, Figure 5Schematic diagram of curve fitting provided in this application Figure 3 ,like Figure 5 As shown, determine the voltage change value that is not within the preset voltage change range, calculate the average value of all voltage change values ​​except this voltage change value, and obtain the reference value. Then determine the maximum voltage change value, and calculate the difference between the maximum voltage change value and the reference value to obtain the deviation, and determine the Hall element number corresponding to the maximum voltage change value, which is the number of Hall elements that the Hall element corresponding to the number passes through when transitioning from the maximum voltage change value to the reference value. Figure 4 , it is determined that the deviation is greater than the preset amplitude condition, but the number of Hall elements passed is not within the preset width range, it is determined that the Gaussian curve characteristics are not satisfied, and it is determined that the current magnetic field distribution curve meets the amplitude condition but does not meet the width condition. At this time, it is determined that there is no valid magnetic stripe under the current Hall array.

[0106] In the embodiment of the present application, when the deviation exceeds a preset amplitude threshold and the number of Hall elements passing through is within a preset width range, it is determined that the Gaussian curve characteristics are satisfied, and that the current magnetic field distribution curve satisfies the amplitude condition and the width condition, and that there is a valid magnetic stripe under the current Hall array, thereby achieving effective detection of thin stripes and improving the accuracy and reliability of the detection results by clarifying the quantitative parameters.

[0107] S203: If there is a valid magnetic stripe, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated according to the peak position of the magnetic field distribution curve.

[0108] More specifically, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated based on the peak position of the magnetic field distribution curve, specifically including: determining the sub-peak positions of two Hall elements adjacent to the peak position in the Hall array based on the peak position of the magnetic field distribution curve, where the peak position is the position of the Hall element in the Hall array whose voltage change value deviates the most from the reference value; and determining the position of the midpoint of the magnetic stripe relative to the Hall array based on the peak position and the sub-peak position.

[0109] In one possible embodiment, Figure 3 As shown, by calculating the deviation between each voltage change value and the reference value, the Hall element number corresponding to the voltage change value with the largest deviation is determined as the peak position of the magnetic field distribution curve (ie, Figure 3 The Hall element numbered 10 in the array is determined by determining the Hall elements numbered 9 and 11 adjacent to the left and right of the Hall element numbered 10, thereby obtaining the two sub-peak positions of numbered 9 and 11. The position of the midpoint of the magnetic stripe relative to the Hall array is calculated based on the following formula, namely:

[0110]

[0111] in, Indicates the position of the Hall element numbered 10 in the Hall array (i.e., peak position, numbered 10), Indicates the voltage change value corresponding to the Hall element at the sub-peak position on the left. Indicates the voltage change value of the Hall element number 10, Indicates the voltage change value of the Hall element at the sub-peak position on the right. Indicates the relative position of the center point of the magnetic stripe in the Hall array.

[0112] The embodiment of the present application compares the deviation of each voltage change value with the reference value, takes the position corresponding to the maximum deviation as the peak position, and determines the two adjacent sub-peak positions based on the peak position. Based on the peak position and the voltage change values ​​of the peak position and the sub-peak position, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated, thereby realizing the positioning of the midpoint of the magnetic stripe, solving the limitation of the spacing of the Hall elements on the positioning results in the prior art, improving the accuracy and reliability of the positioning of the midpoint of the magnetic stripe, and meeting the scenario requirements of precise obstacle avoidance.

[0113] Optionally, after determining the relative position of the midpoint of the magnetic stripe in the Hall array and the polarity of the magnetic stripe, the relative position and the polarity of the magnetic stripe are output in real time for use in navigation control of a mobile device.

[0114] After obtaining the relative position of the midpoint of the magnetic stripe in the Hall array and the corresponding magnetic stripe polarity through the above embodiment, the embodiment of the present application outputs the midpoint position and polarity of the magnetic stripe for navigation of the mobile device, providing key parameters for the navigation of the mobile device and ensuring the accurate operation / movement of the mobile device.

[0115] The magnetic stripe detection method provided in the embodiment of the present application constructs a continuous magnetic field distribution curve based on the difference between the voltage signals of each Hall element collected in real time and the voltage signal of the non-magnetic environment, and judges the relative position of the effective magnetic stripe and the midpoint of the magnetic stripe in the Hall array based on the magnetic field distribution curve. This solves the discrete limitations of traditional digital threshold judgment methods, improves the mobile device's positioning accuracy of the magnetic stripe midpoint, and improves navigation reliability.

[0116] In a possible embodiment of the present application, the mobile device includes a controller, Figure 6 The schematic diagram of the controller provided in this application is as follows: Figure 6 As shown, the controller includes an acquisition module 601, a processing module 602 and a setting module 603, wherein:

[0117] The acquisition module 601 is used to acquire the voltage signals output by each Hall element in the Hall array in real time and determine the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment;

[0118] A processing module 602 is configured to construct a magnetic field distribution curve by processing the voltage change value corresponding to each Hall element, and determine whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve;

[0119] The processing module 602 is further configured to calculate the relative position of the midpoint of the magnetic stripe in the Hall array according to the peak position of the magnetic field distribution curve when there is a valid magnetic stripe.

[0120] Optionally, the processing module 602 is further configured to perform curve fitting on the magnetic field distribution curve;

[0121] When the curve fitting result is a Gaussian curve, it is determined whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve.

[0122] Optionally, the processing module 602 is further configured to determine a reference value by calculating an average value of voltage variation values ​​within a preset voltage variation range;

[0123] By calculating the deviation between the maximum voltage change value and the reference value, it is determined based on the deviation whether the current magnetic field distribution curve meets the amplitude condition and the width condition. If both the amplitude condition and the width condition are met, it is determined that there is a valid magnetic stripe under the Hall array;

[0124] Otherwise, it is determined that no valid magnetic stripe exists.

[0125] Optionally, the processing module 602 is further configured to satisfy an amplitude condition when the deviation exceeds a preset amplitude threshold;

[0126] The number of Hall elements through which the voltage change value passes from the maximum voltage change value to the reference value is determined, and when the number is within a preset width range, the width condition is met.

[0127] Optionally, the processing module 602 is further configured to determine, based on the peak position of the magnetic field distribution curve, sub-peak positions of two Hall elements adjacent to the peak position in the Hall array, where the peak position is the position in the Hall array of the Hall element whose voltage change value has the largest deviation from the reference value;

[0128] The position of the midpoint of the magnetic stripe relative to the Hall array is determined based on the peak position and sub-peak position.

[0129] Optionally, the processing module 602 is further configured to calculate an average value of voltage change values ​​in the entire Hall array when it is determined that a valid magnetic strip exists;

[0130] Determine a maximum voltage change value and a minimum voltage change value among the voltage change values, and calculate a first difference between the maximum voltage change value and an average value, and a second difference between the average value and the minimum voltage change value;

[0131] The polarity of the magnetic stripe is determined based on the first difference and the second difference.

[0132] Optionally, the processing module 602 is further configured to, if the first difference is greater than the second difference, determine that the curve formed by the voltage change values ​​in the entire Hall array opens downward, and obtain that the polarity of the effective magnetic stripe pointing upward is the N pole;

[0133] If the first difference is smaller than the second difference, it is determined that the curve formed by the voltage change value in the entire Hall array opens upward, and the upward polarity of the effective magnetic strip is the S pole.

[0134] Optionally, the processing module 602 is further configured to, after determining the voltage change value of each voltage signal relative to the voltage signal in the non-magnetic environment, determine, for any Hall element, that there is no valid magnetic stripe under the Hall element if the voltage change value corresponding to the Hall element is 0;

[0135] Otherwise, it is determined that there is a valid magnetic stripe under the Hall element and the polarity of the magnetic stripe is determined.

[0136] Optionally, the processing module 602 is further configured to determine that the upward polarity of the magnetic strip is the S pole if the voltage change value corresponding to the Hall element is a negative value;

[0137] If the voltage change value corresponding to the Hall element is positive, it is determined that the upward polarity of the magnetic stripe is the N pole.

[0138] Optionally, the setting module 603 is configured to preset the amplitude threshold according to the magnetic field strength characteristics of the magnetic stripe, and to preset the width range according to the physical width of the magnetic stripe.

[0139] Optionally, the processing module 602 is further configured to, after determining the relative position of the midpoint of the magnetic stripe in the Hall array and the polarity of the magnetic stripe, output the relative position and the polarity of the magnetic stripe in real time for use in navigation control of the mobile device.

[0140] Figure 7 A schematic diagram of the structure of the mobile device provided in this application, such as Figure 7 As shown, mobile device 400 may include one or more of the following components: a processing component 402 , a memory 404 , a power component 406 , a multimedia component 408 , an audio component 410 , an input / output interface 412 , a sensor component 414 , and a communication component 416 .

[0141] Processing component 402 generally controls the overall operation of device 400, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. Processing component 402 may include one or more processors 420 to execute instructions to perform all or part of the steps of the above-described method. In addition, processing component 402 may include one or more modules to facilitate interaction between processing component 402 and other components. For example, processing component 402 may include a multimedia module to facilitate interaction between multimedia component 408 and processing component 402.

[0142] Memory 404 is configured to store various types of data to support operations on device 400. Examples of such data include instructions for any application or method operating on device 400, contact data, phone book data, messages, pictures, videos, etc. Memory 404 may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random-access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0143] The power supply component 406 provides power to the various components of the device 400. The power supply component 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the device 400.

[0144] The multimedia component 408 includes a screen that provides an output interface between the device 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, it may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensors can detect not only the boundaries of a touch or slide action, but also the duration and pressure associated with the touch or slide action. In some embodiments, the multimedia component 408 includes a front-facing camera and / or a rear-facing camera. When the device 400 is in an operating mode, such as a capture mode or a video mode, the front-facing camera and / or the rear-facing camera can receive external multimedia data. Each front-facing camera and the rear-facing camera can have a fixed optical lens system or have variable focal length and optical zoom capabilities.

[0145] The audio component 410 is configured to output and / or input audio signals. For example, the audio component 410 includes a microphone (MIC) that is configured to receive external audio signals when the device 400 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 404 or transmitted via the communication component 416. In some embodiments, the audio component 410 also includes a speaker for outputting audio signals.

[0146] The input / output interface 412 provides an interface between the processing component 402 and peripheral interface modules, such as a keyboard, a click wheel, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0147] Sensor assembly 414 includes one or more sensors for providing various aspects of device 400 status analysis. For example, sensor assembly 414 can detect the open / closed state of device 400, the relative positioning of components, such as the display and keypad of device 400. Sensor assembly 414 can also detect changes in the position of device 400 or a component of device 400, the presence or absence of user contact with device 400, the orientation or acceleration / deceleration of device 400, and changes in the temperature of device 400. Sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 414 may also include an optical sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-Coupled Device (CCD) sensor, for use in imaging applications. In some embodiments, sensor assembly 414 may also include an accelerometer, a gyroscope, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0148] The communication component 416 is configured to facilitate wired or wireless communication between the device 400 and other devices. The device 400 can access a wireless network based on a communication standard, such as WiFi, 4G or 5G, or a combination thereof. In an exemplary embodiment, the communication component 416 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wide band (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0149] In an exemplary embodiment, the device 400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above method.

[0150] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as memory 404 including instructions. The instructions are executable by processor 420 of device 400 to perform the above method. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0151] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a server, enables the server to execute the above-mentioned control method of the golf bag car.

[0152] An embodiment of the present application also provides a chip for running instructions, which is used to execute the technical solution of the control method of the golf bag car in the above embodiment.

[0153] An embodiment of the present application also provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are run on a computer, the computer executes the technical solution of the control method of the golf bag car in the above embodiment.

[0154] An embodiment of the present application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, it can implement the technical solution of the control method of the golf bag car in the above embodiment.

[0155] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0156] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A magnetic stripe detection method, characterized in that: include: Collect the voltage signals output by each Hall element in the Hall array in real time and determine the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment; constructing a magnetic field distribution curve by processing the voltage change values ​​corresponding to the respective Hall elements, and determining whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve; If there is a valid magnetic stripe, the relative position of the midpoint of the magnetic stripe in the Hall array is calculated according to the peak position of the magnetic field distribution curve.

2. The method according to claim 1, characterized in that Determining whether there is a valid magnetic stripe under the Hall array based on the magnetic field distribution curve specifically includes: By performing curve fitting on the magnetic field distribution curve; When the curve fitting result is a Gaussian curve, it is determined whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve.

3. The method according to claim 2, characterized in that Judging whether there is a valid magnetic stripe under the Hall array based on the characteristics of the Gaussian curve specifically includes: Determine the reference value by calculating the average value of the voltage change values ​​within the preset voltage change range; By calculating the deviation between the maximum voltage change value and the reference value, determining whether the current magnetic field distribution curve meets the amplitude condition and the width condition based on the deviation, if both the amplitude condition and the width condition are met, determining that there is a valid magnetic stripe under the Hall array; Otherwise, it is determined that no valid magnetic stripe exists.

4. The method according to claim 3, characterized in that Determining whether the current magnetic field distribution curve meets the amplitude condition and the width condition based on the deviation specifically includes: When the deviation exceeds a preset amplitude threshold, the amplitude condition is met; The number of Hall elements through which the voltage change value passes from the maximum voltage change value to the reference value is determined, and when the number is within a preset width range, the width condition is satisfied.

5. The method according to claim 1, wherein Calculating the relative position of the midpoint of the magnetic stripe in the Hall array according to the peak position of the magnetic field distribution curve specifically includes: Determining, based on the peak position of the magnetic field distribution curve, sub-peak positions of two Hall elements adjacent to the peak position in the Hall array, wherein the peak position is the position of the Hall element in the Hall array whose voltage change value has the largest deviation from the reference value; The position of the midpoint of the magnetic stripe relative to the Hall array is determined according to the peak position and the sub-peak position.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: When it is determined that there is a valid magnetic stripe, the average value of the voltage change value in the entire Hall array is calculated; Determine a maximum voltage change value and a minimum voltage change value among the voltage change values, and calculate a first difference between the maximum voltage change value and the average value, and a second difference between the average value and the minimum voltage change value; The polarity of the magnetic stripe is determined based on the first difference and the second difference.

7. The method according to claim 6, characterized in that Determining the polarity of the magnetic stripe according to the first difference and the second difference specifically includes: If the first difference is greater than the second difference, it is determined that the curve formed by the voltage change value in the entire Hall array opens downward, and the upward polarity of the effective magnetic strip is obtained as the N pole; If the first difference is smaller than the second difference, it is determined that the curve formed by the voltage change value in the entire Hall array opens upward, and the upward polarity of the effective magnetic strip is obtained as the S pole.

8. The method according to claim 1, characterized in that Also includes: After determining the voltage change value of each voltage signal relative to the voltage signal in a non-magnetic environment, for any Hall element, if the voltage change value corresponding to the Hall element is 0, it is determined that there is no valid magnetic stripe under the Hall element; Otherwise, it is determined that there is a valid magnetic stripe under the Hall element, and the polarity of the magnetic stripe is determined.

9. The method according to claim 8, characterized in that Determine the polarity of the magnetic stripe, including: If the voltage change value corresponding to the Hall element is negative, it is determined that the upward polarity of the magnetic strip is the S pole; If the voltage change value corresponding to the Hall element is a positive value, it is determined that the upward polarity of the magnetic strip is the N pole.

10. The method according to claim 4, characterized in that The preset amplitude threshold is set according to the magnetic field strength characteristics of the magnetic stripe, and the preset width range is set according to the physical width of the magnetic stripe.

11. The method according to claim 1, wherein Also includes: After determining the relative position of the midpoint of the magnetic stripe in the Hall array and the polarity of the magnetic stripe, the relative position and the polarity of the magnetic stripe are output in real time for use in navigation control of a mobile device.

12. A mobile device, characterized in that: Including controller; The controller is used to execute the magnetic stripe detection method according to any one of claims 1 to 11.

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