Magnetic field emitter and magnetic navigation system

Abstract

The utility model relates to the technical field of medical instruments, and discloses a magnetic field emitter and a magnetic navigation system.The magnetic field emitter comprises a driving assembly and a magnet assembly, the driving assembly comprises a driving part, the magnet assembly comprises a mounting part, a first magnet and a second magnet, and the first magnet and the second magnet are distributed at intervals; the first magnet and the second magnet can rotate relative to the mounting piece, and the axis of the first magnet rotating relative to the mounting piece is not parallel to the axis of the second magnet rotating relative to the mounting piece; the magnetic field emitter further comprises a transmission assembly, and the driving piece is used for driving one of the first magnet and the second magnet to rotate relative to the installation piece and simultaneously driving the other one of the first magnet and the second magnet to rotate relative to the installation piece through the transmission assembly. According to the magnetic field emitter and the magnetic navigation system provided by the invention, the problems of relatively complex structure and relatively large overall size of a magnetic field emitter in related technologies can be improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a magnetic field transmitter and a magnetic navigation system. Background Art

[0002] Magnetic navigation systems require a magnetic field transmitter, a receiver (i.e., a magnetic sensor), and a control algorithm. The varying magnetic field generated by the transmitter is spatially specific. The magnetic field information received by the receiver can be used to infer the position and attitude of the magnetic sensor (i.e., the receiver) relative to the transmitter. The sensor's positioning performance is closely related to the accuracy of the magnetic field model, the accuracy of the magnetic field measurement, and data synchronization (required by the phase method). For the transmitter, optimal encoding of the spatial distribution of the magnetic field is crucial.

[0003] In traditional magnetic field transmitters, multiple magnets need to be set up to rotate to generate a time-varying magnetic field. The structure of the magnetic field transmitter is relatively complex and the overall size is large. Utility Model Content

[0004] The present application provides a magnetic field transmitter and a magnetic navigation system, which can improve the problems of the magnetic field transmitter in the related art in that the structure is relatively complex and the overall size is relatively large.

[0005] In a first aspect, an embodiment of the present application provides a magnetic field transmitter, comprising a drive assembly and a magnet assembly, the drive assembly comprising a drive member, the magnet assembly comprising a mounting member, a first magnet, and a second magnet, the first magnet and the second magnet being spaced apart, the first magnet and the second magnet both being rotatable relative to the mounting member, and the axis of rotation of the first magnet relative to the mounting member being non-parallel to the axis of rotation of the second magnet relative to the mounting member; the magnetic field transmitter further comprising a transmission assembly, the drive member being configured to drive one of the first magnet and the second magnet to rotate relative to the mounting member, and simultaneously drive the other of the first magnet and the second magnet to rotate relative to the mounting member via the transmission assembly.

[0006] The magnetic field transmitter provided in the embodiments of the present application has the following beneficial effects: since the magnetic field transmitter includes a drive assembly and a magnet assembly, the drive assembly includes a drive member, the magnet assembly includes a mounting member, a first magnet, and a second magnet, and the magnetic field transmitter also includes a transmission assembly, it is possible that while the drive member drives one of the first magnet and the second magnet to rotate relative to the mounting member, the transmission assembly simultaneously drives the other of the first magnet and the second magnet to rotate relative to the mounting member. Thus, a single drive member can simultaneously drive the first magnet and the second magnet to rotate relative to the mounting member, thereby reducing the number of drive members and improving the problem of a relatively complex structure and large overall size of the magnetic field transmitter in the related art.

[0007] In some embodiments, the driving member includes a motor.

[0008] In some embodiments, the transmission assembly includes a synchronous belt, a first pulley and a second pulley, the first magnet is in driving connection with the first pulley, the second magnet is in driving connection with the second pulley, the first pulley and the second pulley are connected by the synchronous belt, and one of the first pulley, the second pulley, the first magnet and the second magnet is in driving connection with the driving member; the transmission assembly also includes a synchronous gear, wherein,

[0009] The first magnet is connected to the first pulley through the synchronous gear transmission;

[0010] And / or, the second magnet is connected to the second pulley through the synchronous gear transmission.

[0011] In some embodiments, the transmission assembly includes a synchronous gear, and the first magnet and the second magnet are connected by the synchronous gear.

[0012] In some embodiments, the axis of rotation of the first magnet relative to the mounting member and the axis of rotation of the second magnet relative to the mounting member are perpendicular to each other.

[0013] In some embodiments, the center of the first magnet and the center of the second magnet are in a first plane, and the center of the first magnet and the center of the second magnet are in a second plane, the first plane is defined by the axis of rotation of the first magnet relative to the mounting member and the axis of rotation of the second magnet relative to the mounting member, the first plane and the second plane are perpendicular to each other, and the second plane is perpendicular to the axis of rotation of the first magnet relative to the mounting member.

[0014] In some embodiments, the transmission assembly includes a driving gear, the driving member is in transmission connection with the driving gear, the first magnet and the second magnet are spaced apart around the driving gear, and the first magnet and the second magnet are both in transmission connection with the driving gear.

[0015] In some embodiments, the transmission assembly includes a driven gear, and the first magnet and / or the second magnet is in transmission connection with the driving gear via the driven gear.

[0016] In some embodiments, the transmission assembly includes a synchronous belt; wherein,

[0017] The first magnet and / or the second magnet are connected to the driven gear via the synchronous belt;

[0018] And / or, one of the driving gear and the driven gear is in transmission connection with the driving member via the synchronous belt, so as to realize transmission connection between the driving member and the driving gear.

[0019] In some embodiments, the magnet assembly further includes a third magnet and a fourth magnet, and the third magnet and the fourth magnet are both rotatable relative to the mounting member, the first magnet, the second magnet, the third magnet and the fourth magnet are arranged in sequence and at intervals around the driving gear, the first magnet, the second magnet, the third magnet and the fourth magnet are all transmission-connected to the driving gear, the axis of rotation of the second magnet relative to the mounting member and the axis of rotation of the third magnet relative to the mounting member are not parallel to each other, the axis of rotation of the third magnet relative to the mounting member and the axis of rotation of the fourth magnet relative to the mounting member are not parallel to each other, and the axis of rotation of the fourth magnet relative to the mounting member and the axis of rotation of the first magnet relative to the mounting member are not parallel to each other.

[0020] In some embodiments, the magnetic field transmitter further includes a first angle detection sensor, which is disposed corresponding to the first magnet and configured to detect an angle at which the first magnet rotates relative to the mounting member.

[0021] In some embodiments, the first angle detection sensor includes an optical encoding disk and an optical encoding reader, the optical encoding disk is connected to the first magnet, and the optical encoding disk can rotate relative to the mounting member together with the first magnet, the optical encoding reader is arranged corresponding to the optical encoding disk, and the optical encoding reader is fixed relative to the mounting member.

[0022] In a second aspect, an embodiment of the present application provides a magnetic navigation system, comprising a magnetic sensor and a magnetic field transmitter as described in the first aspect.

[0023] The beneficial effects of the magnetic navigation system provided in this application compared to the existing technology can be referred to the description of the beneficial effects of the magnetic field transmitter provided in this application compared to the existing technology, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 This is a schematic structural diagram of the magnetic field transmitter in the first embodiment of the present application;

[0026] Figure 2 yes Figure 1 A schematic structural diagram of the magnetic field transmitter from another perspective is shown;

[0027] Figure 3 yes Figure 1 A top view of the magnetic field transmitter is shown;

[0028] Figure 4 yes Figure 2 A schematic diagram of the partial structure of the magnetic field transmitter shown;

[0029] Figure 5 yes Figure 2 A schematic structural diagram of the first magnet in the magnetic field transmitter shown;

[0030] Figure 6 yes Figure 2 A schematic structural diagram of the second magnet in the magnetic field transmitter shown;

[0031] Figure 7 This is a structural diagram of a magnetic field transmitter in the second embodiment of the present application;

[0032] Figure 8 This is a structural diagram of a magnetic field transmitter in the third embodiment of the present application;

[0033] Figure 9 This is a schematic structural diagram of a magnetic field transmitter in a fourth embodiment of the present application;

[0034] Figure 10 This is a structural diagram of a magnetic field transmitter in the fifth embodiment of the present application;

[0035] Figure 11 It is a structural diagram of the magnetic field transmitter in the sixth embodiment of the present application.

[0036] The meanings of the marks in the figure are:

[0037] 100. Magnetic field transmitter;

[0038] 00, driving parts;

[0039] 10. a first magnet;

[0040] 101. First rotating shaft; 11. First base; 12. First rotating spindle; 13. First coupling;

[0041] 20. a second magnet;

[0042] 201, second rotating shaft; 21, second base;

[0043] 30. Mounting parts;

[0044] 40. Transmission components;

[0045] 401, driving gear; 402, driven gear; 403, transmission gear; 404, gearbox;

[0046] 41. Synchronous belt; 42. First pulley; 43. Second pulley; 44. Synchronous gear;

[0047] 50. a third magnet;

[0048] 501, third rotating shaft;

[0049] 60. Fourth magnet;

[0050] 601, the fourth axis;

[0051] 70. A first angle detection sensor;

[0052] 71. Optical encoder disk; 72. Optical encoder reader; 73. Mounting base; 74. Adapter base;

[0053] 80. Second angle detection sensor. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0055] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0057] References to "one embodiment," "some embodiments," or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0058] In order to illustrate the technical solution of the present application, the following description is given with reference to specific drawings and embodiments.

[0059] In traditional magnetic field transmitters, multiple magnets need to be set up to rotate to generate a time-varying magnetic field. One magnet is driven by one driver, and multiple magnets require corresponding multiple drivers.

[0060] Since the driving parts generally include motors, and the motors themselves also work on the principle of electromagnetic induction, each motor is its own interference source for the magnetic field transmitter. Therefore, during the operation of the magnetic field transmitter, the changing magnetic field generated by the motors during operation will interfere with the time-varying magnetic field generated by the magnetic field transmitter. The more motors there are, the more obvious the interference and the worse the stability. As a result, the time-varying magnetic field is significantly interfered with and the stability is poor, making it difficult to complete the interference calibration of the magnetic navigation system.

[0061] In addition, since one magnet is driven by one driver, multiple magnets need to be equipped with corresponding multiple drivers, so the structure of the magnetic field transmitter is relatively complex and the overall size is large.

[0062] In view of this, the present application provides a magnetic field transmitter and a magnetic navigation system. Since the magnetic field transmitter includes a drive component and a magnet component, the drive component includes a drive member, the magnet component includes a mounting member, a first magnet, and a second magnet, and the magnetic field transmitter also includes a transmission component, so while the drive member drives one of the first magnet and the second magnet to rotate relative to the mounting member, the transmission component can simultaneously drive the other of the first magnet and the second magnet to rotate relative to the mounting member. Thus, one drive member can simultaneously drive the first magnet to rotate relative to the mounting member and the second magnet to rotate relative to the mounting member, reducing the number of drive members and improving the problem that the magnetic field transmitter in the related art has a relatively complex structure and a large overall size.

[0063] Please refer to Figure 1 and Figure 2 , Figure 1 is a structural diagram of the magnetic field transmitter 100 in the first embodiment of the present application, Figure 2 yes Figure 1 FIG. 1 is a schematic structural diagram of the magnetic field transmitter 100 from another perspective.

[0064] In a first aspect, a first embodiment of the present application provides a magnetic field transmitter 100, comprising a drive assembly and a magnet assembly, the drive assembly comprising a drive member 00, the magnet assembly comprising a mounting member 30, a first magnet 10, and a second magnet 20, the first magnet 10 and the second magnet 20 being spaced apart, the first magnet 10 and the second magnet 20 both being rotatable relative to the mounting member 30, and an axis a about which the first magnet 10 rotates relative to the mounting member 30 and an axis b about which the second magnet 20 rotates relative to the mounting member 30 being non-parallel.

[0065] The driving member 00 may include a motor, a cylinder or a hydraulic cylinder, etc.

[0066] The first magnet 10 and the second magnet 20 can be rotatably connected to the mounting member 30 via bearings, etc. The shape of the first magnet 10 and the shape of the second magnet 20 can be cylindrical or other shapes.

[0067] The axis a about which the first magnet 10 rotates relative to the mounting member 30 and the axis b about which the second magnet 20 rotates relative to the mounting member 30 may intersect or be perpendicular to each other in space.

[0068] The axis a of the first magnet 10 rotating relative to the mounting member 30 intersects with the axis b of the second magnet 20 rotating relative to the mounting member 30 in space, which means that the orthographic projection of the axis a on one plane in space intersects with the orthographic projection of the axis b on this plane.

[0069] The axis a of the first magnet 10 rotating relative to the mounting member 30 is perpendicular to the axis b of the second magnet 20 rotating relative to the mounting member 30 in space, which means that the orthographic projection of the axis a on one plane in space is perpendicular to the orthographic projection of the axis b on this plane.

[0070] The magnetic field transmitter 100 further includes a transmission assembly 40 , which is configured to drive one of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30 , and simultaneously drive the other of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30 through the transmission assembly 40 .

[0071] For example, the first magnet 10 and the second magnet 20 are connected through the transmission component 40. The driving member 00 can directly drive the first magnet 10 to drive the first magnet 10 to rotate relative to the mounting member 30, and the first magnet 10 simultaneously drives the second magnet 20 to rotate relative to the mounting member 30 through the transmission component 40; or, the driving member 00 can directly drive the second magnet 20 to rotate relative to the mounting member 30, and the second magnet 20 simultaneously drives the first magnet 10 to rotate relative to the mounting member 30 through the transmission component 40; or, the driving member 00 can directly drive the transmission component 40 to drive the first magnet 10 to rotate relative to the mounting member 30 and the second magnet 20 to rotate relative to the mounting member 30.

[0072] Alternatively, the transmission assembly 40 includes two transmission members, and the first magnet 10 and the second magnet 20 are respectively connected to the driving member 00 through two transmission members. When the driving member 00 drives one of the transmission members to drive the first magnet 10 to rotate relative to the mounting member 30, the driving member 00 can drive the other transmission member through the driving member 00 to simultaneously drive the second magnet 20 to rotate relative to the mounting member 30. The transmission members may include gears, synchronous belts 41, couplings, synchronous chains, cams or connecting rods, etc.

[0073] Alternatively, the transmission assembly 40 includes two transmission members, the first magnet 10 is connected to the driving member 00 through one of the transmission members, and the first magnet 10 and the second magnet 20 are connected through another transmission member. When the driving member 00 drives the first magnet 10 to rotate relative to the mounting member 30 through one of the transmission members, the first magnet 10 can simultaneously drive the second magnet 20 to rotate relative to the mounting member 30 through the other transmission member. The transmission members may include gears, synchronous belts 41, couplings, synchronous chains, cams or connecting rods, etc.

[0074] The transmission assembly 40 may include gears, a timing belt 41, a coupling, a timing chain, a cam or a connecting rod, etc. The first magnet 10 and the second magnet 20 can rotate simultaneously through the transmission assembly 40. The rotation speed of the first magnet 10 and the rotation speed of the second magnet 20 can be the same or different.

[0075] It is understandable that the driving member 00 drives the first magnet 10 and the second magnet 20 to rotate simultaneously through the transmission assembly 40, and the relevant parameters of the time-varying magnetic field can be obtained through the magnetic sensor, thereby completing the position and posture positioning of the magnetic sensor.

[0076] As can be seen from the above, the magnetic field transmitter 100 provided in the embodiment of the present application includes a driving assembly and a magnet assembly, the driving assembly includes a driving member 00, the magnet assembly includes a mounting member 30, a first magnet 10, and a second magnet 20, and the magnetic field transmitter 100 also includes a transmission assembly 40. Therefore, while the driving member 00 drives one of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30, the transmission assembly 40 simultaneously drives the other of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30. Therefore, the first magnet 10 and the second magnet 20 can be driven to rotate relative to the mounting member 30 and the second magnet 20 can be driven to rotate relative to the mounting member 30 by a single driving member 00. This reduces the number of driving members 00 and can improve the problem of the magnetic field transmitter 100 in the related art having a relatively complex structure and a large overall size.

[0077] The magnetic field transmitter 100 provided in the embodiment of the present application adopts a solution in which the first magnet 10 and the second magnet 20 rotate independently, eliminating the need for magnet counterweights. Furthermore, during the rotation of the first magnet 10 and the second magnet 20, only the rotational inertia and system resistance need to be overcome, resulting in a very small load. This effectively reduces the output power of the driver 00, thereby reducing the size of the driver 00 and the degree of interference it has on the time-varying magnetic field.

[0078] It should be noted that a plurality of first magnets 10 and second magnets 20 may be provided, and the driving member 00 may simultaneously drive all first magnets 10 to rotate relative to the mounting member 30 and all second magnets 20 to rotate relative to the mounting member 30 through the transmission assembly 40. The transmission assembly 40 may include gears, a synchronous belt 41, or a synchronous chain.

[0079] In this embodiment, the driving member 00 includes a motor.

[0080] By adopting the above solution, a single motor can simultaneously drive the first magnet 10 to rotate relative to the mounting member 30 and the second magnet 20 to rotate relative to the mounting member 30, thereby reducing the number of motors. This improves the problem in the related art that during the operation of the magnetic field transmitter 100, the time-varying magnetic field is significantly interfered with by the motor, resulting in poor stability and difficulty in completing interference calibration of the magnetic navigation system.

[0081] The magnetic field transmitter 100 provided in this embodiment of the present application minimizes interference from the motor on the time-varying magnetic field generated by the magnetic field transmitter 100, while meeting operational requirements. Calibration is simplified, resulting in a magnetic navigation system with greater stability and positioning accuracy. Compared to solutions that use a separate motor to drive each magnet, the magnetic field transmitter 100 provided in this embodiment of the present application significantly reduces hardware costs. Furthermore, the reduced number of motors significantly reduces the overall size of the magnetic field transmitter 100.

[0082] Optionally, the magnet assembly includes a first base 11 and a second base 21, both of which are connected to the mounting member 30, the first magnet 10 is rotatably connected to the first base 11 to enable the first magnet 10 to rotate relative to the mounting member 30, and the second magnet 20 is rotatably connected to the second base 21 to enable the second magnet 20 to rotate relative to the mounting member 30.

[0083] Such an arrangement facilitates the rotation of the first magnet 10 relative to the mounting member 30 , and facilitates the rotation of the second magnet 20 relative to the mounting member 30 .

[0084] Optionally, the mounting member 30 is provided with an external mounting interface (not shown in the figure) to facilitate the installation of the entire magnetic field transmitter 100 .

[0085] Please refer to Figure 3 、 Figure 4 、 Figure 5 and Figure 6 , Figure 3 yes Figure 1 A top view of the magnetic field transmitter 100 is shown, Figure 4 yes Figure 2 The schematic diagram of the partial structure of the magnetic field transmitter 100 shown in FIG. Figure 5 yes Figure 2 The structural diagram of the first magnet 10 in the magnetic field transmitter 100 is shown in FIG. Figure 6 yes Figure 2 FIG. 1 is a schematic structural diagram of the second magnet 20 in the magnetic field transmitter 100 .

[0086] In the first embodiment, the transmission assembly 40 includes a synchronous belt 41, a first pulley 42 and a second pulley 43, the first magnet 10 is transmission-connected to the first pulley 42, the second magnet 20 is transmission-connected to the second pulley 43, the first pulley 42 and the second pulley 43 are transmission-connected through the synchronous belt 41, and one of the first pulley 42, the second pulley 43, the first magnet 10 and the second magnet 20 is transmission-connected to the driving member 00; the transmission assembly 40 also includes a synchronous gear 44, wherein the first magnet 10 is transmission-connected to the first pulley 42 through the synchronous gear 44; and / or, the second magnet 20 is transmission-connected to the second pulley 43 through the synchronous gear 44.

[0087] By adopting the above scheme, when the first magnet 10 and the second magnet 20 are far apart, the driving member 00 can drive the first magnet 10 to rotate relative to the mounting member 30 while simultaneously driving the second magnet 20 to rotate relative to the mounting member 30 through the synchronous belt 41. In addition, the synchronous gear 44 can also be used to realize that the axis a of the first magnet 10 rotating relative to the mounting member 30 is not parallel to the axis of the first pulley 42, thereby facilitating the realization that the axis a of the first magnet 10 rotating relative to the mounting member 30 is not parallel to the axis b of the second magnet 20 rotating relative to the mounting member 30.

[0088] It should be noted that in the embodiment of the present application, the center distance between the first magnet 10 and the second magnet 20 is not limited. The larger the center distance of the magnets and the larger the volume of the magnets, the stronger the time-varying magnetic field generated by the magnetic field transmitter 100, the larger the detectable range, and the higher the detection accuracy.

[0089] Optionally, the synchronous gear 44 includes a large bevel gear and a small bevel gear that are matingly connected, one of the large bevel gear and the small bevel gear is coaxially arranged with the first pulley 42 and can rotate synchronously, the other of the large bevel gear and the small bevel gear is coaxially installed with the driving member 00, the driving member 00 is coaxially arranged with the first magnet 10 through the first coupling 13 and the first rotating main shaft 12 and can rotate synchronously, and the second magnet 20 is connected to the second pulley 43 through the second rotating main shaft (not shown in the figure) and can rotate synchronously.

[0090] For example, a small bevel gear is coaxially arranged with the first pulley 42 and can rotate synchronously, a large bevel gear is coaxially mounted with the driving member 00, and the driving member 00 is coaxially arranged with the first magnet 10 via the first coupling 13 and the first rotating main shaft 12 and can rotate synchronously. The second magnet 20 is connected to the second pulley 43 via the second rotating main shaft (not shown) and can rotate synchronously. There is a certain transmission ratio between the small bevel gear and the large bevel gear. Assuming the speed of the large bevel gear is n and the transmission ratio is w1, the speed of the small bevel gear is w1*n. The first pulley 42 is coaxially mounted with the small bevel gear and has a speed of w1*n. The first pulley 42 and the second pulley 43 are connected by a synchronous belt 41. Assuming the transmission ratio between the first pulley 42 and the second pulley 43 is w2, the speed transmitted to the second pulley 43 is w1*w2*n, thereby achieving the function of driving the first magnet 10 and the second magnet 20 to rotate simultaneously. The setting of the transmission ratios w1 and w2 is not restricted and can be determined according to actual needs.

[0091] In other embodiments, the transmission assembly 40 includes a synchronous gear 44 , and the first magnet 10 and the second magnet 20 are transmission-connected via the synchronous gear 44 .

[0092] With this arrangement, the driving member 00 can simultaneously drive the first magnet 10 to rotate relative to the mounting member 30, while simultaneously driving the second magnet 20 to rotate relative to the mounting member 30 through the synchronous gear 44. Furthermore, the transmission is relatively accurate, efficient, compact, reliable, and has a long service life.

[0093] It should be noted that when the first magnet 10 and the second magnet 20 are connected in transmission only through the synchronous gear 44 , a plurality of synchronous gears 44 may be provided.

[0094] Please refer to Figure 2 and Figure 3 In the first embodiment, the axis a about which the first magnet 10 rotates relative to the mounting member 30 and the axis b about which the second magnet 20 rotates relative to the mounting member 30 are perpendicular to each other.

[0095] By adopting the above solution, it is possible to avoid the interaction force between the magnetic field generated by the first magnet 10 and the magnetic field generated by the second magnet 20 containing a radial component, which leads to unnecessary interference and energy loss, making it difficult to design the algorithm of the magnetic navigation system and to complete the interference calibration of the magnetic navigation system.

[0096] Optionally, the center M of the first magnet 10 and the center N of the second magnet 20 are in a first plane, and the center M of the first magnet 10 and the center N of the second magnet 20 are in a second plane. The first plane is defined by the axis a of rotation of the first magnet 10 relative to the mounting member 30 and the axis b of rotation of the second magnet 20 relative to the mounting member 30. The first plane and the second plane are perpendicular to each other, and the second plane is perpendicular to the axis a of rotation of the first magnet 10 relative to the mounting member 30.

[0097] With such an arrangement, a time-varying magnetic field with two mutually perpendicular magnetic moments can be established by the first magnet 10 and the second magnet 20 . Based on the time-varying magnetic field, the position and posture of the magnetic sensor can be accurately located.

[0098] It should be noted that when the first magnet 10 and the second magnet 20 are both made of uniform material distribution, the center M of the first magnet 10 is the geometric center of the first magnet 10 , and the center N of the second magnet 20 is the geometric center of the second magnet 20 .

[0099] For example, the first plane may be a horizontal plane, and the second plane may be a vertical plane.

[0100] Please refer to Figure 1 and Figure 2 In the first embodiment, the magnetic field transmitter 100 further includes a first angle detection sensor 70 , which is disposed corresponding to the first magnet 10 , and is used to detect the angle of rotation of the first magnet 10 relative to the mounting member 30 .

[0101] By adopting the above solution, the first angle detection sensor 70 can accurately detect the rotation angle of the first magnet 10 relative to the mounting member 30, thereby obtaining the rotation information of the first magnet 10. Based on the rotation information, the spatial direction of the magnetic moment of the first magnet 10 can be accurately obtained.

[0102] Among them, the first angle detection sensor 70 includes an optical encoding disk 71 and an optical encoding reader 72. The optical encoding disk 71 is connected to the first magnet 10, and the optical encoding disk 71 can rotate relative to the mounting member 30 together with the first magnet 10. The optical encoding reader 72 is arranged corresponding to the optical encoding disk 71, and the optical encoding reader 72 is fixed relative to the mounting member 30.

[0103] With such an arrangement, the rotation angle of the first magnet 10 relative to the mounting member 30 can be detected more conveniently.

[0104] Optionally, the optical encoding reader 72 is connected to the first base 11 through a mounting seat 73 , and the optical encoding disk 71 is connected to the first magnet 10 through an adapter seat 74 .

[0105] Optionally, the magnetic field transmitter 100 further includes a second angle detection sensor 80 , which is disposed corresponding to the second magnet 20 and is configured to detect a rotation angle of the second magnet 20 relative to the mounting member 30 .

[0106] By adopting the above solution, the second angle detection sensor 80 can accurately detect the rotation angle of the second magnet 20 relative to the mounting member 30, thereby obtaining the rotation information of the second magnet 20. Based on the rotation information, the spatial direction of the magnetic moment of the second magnet 20 can be accurately obtained.

[0107] It should be noted that the specific structure and position of the second angle detection sensor 80 may refer to the specific structure and position of the first angle detection sensor 70 .

[0108] Please refer to Figure 7 , Figure 7 Schematic diagram of the structure of the magnetic field transmitter 100 in the second embodiment of the present application.

[0109] Different from the first embodiment, in the second embodiment, the transmission assembly 40 includes a driving gear 401, the driving member 00 is transmission-connected to the driving gear 401, the first magnet 10 and the second magnet 20 are arranged in sequence and at intervals around the driving gear 401, and the first magnet 10 and the second magnet 20 are both transmission-connected to the driving gear 401.

[0110] By adopting the above solution, the first magnet 10 and the second magnet 20 can be simultaneously driven to rotate relative to the mounting member 30 by a single driving member 00, thereby reducing the number of driving members 00. This improves the problem in the related art that during the operation of the magnetic field transmitter 100, the time-varying magnetic field is significantly interfered with by the driving member 00, resulting in poor stability and difficulty in completing interference calibration of the magnetic navigation system.

[0111] Optionally, the transmission assembly 40 includes a driven gear 402 , and the first magnet 10 and / or the second magnet 20 is in transmission connection with the driving gear 401 via the driven gear 402 .

[0112] This configuration facilitates adjustment of the relative positions of the first magnet 10 and the second magnet 20 via the driven gear 402 .

[0113] It should be noted that the first magnet 10 can be transmission-connected to the driving gear 401 via the driven gear 402, and the second magnet 20 can be transmission-connected to the driving gear 401 via a timing belt 41, a coupling, a timing chain, a cam, or a connecting rod. Alternatively, both the first magnet 10 and the second magnet 20 can be transmission-connected to the driving gear 401 via the driven gear 402.

[0114] The driving gear 401 includes one of a spur gear, a helical gear, a bevel gear and a spiral bevel gear; and / or the driven gear 402 includes one of a spur gear, a helical gear, a bevel gear and a spiral bevel gear.

[0115] Such an arrangement can make the structures of the driving gear 401 and the driven gear 402 relatively simple.

[0116] It can be understood that the driving gear 401 and the driven gear 402 are cooperatively connected.

[0117] For example, the driving gear 401 and the driven gear 402 are both helical gears with a helix angle of 45 degrees. When the gears are meshed with each other, the axis of the driving gear 401 and the axis of the driven gear 402 are perpendicular to each other and do not intersect. The distance between the axis of the driving gear 401 and the axis of the driven gear 402 is half the sum of the pitch circles of the driving gear 401 and the driven gear 402.

[0118] This configuration facilitates adjustment of the relative positions of the first magnet 10 and the second magnet 20 via the driven gear 402 .

[0119] Optionally, the magnet assembly further includes a third magnet 50 and a fourth magnet 60, and the third magnet 50 and the fourth magnet 60 are both rotatable relative to the mounting member 30 (not shown in the figure), the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 are arranged in sequence and at intervals around the driving gear 401, the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 are all transmission-connected to the driving gear 401, the axis of rotation of the second magnet 20 relative to the mounting member 30 and the axis of rotation of the third magnet 50 relative to the mounting member 30 are not parallel to each other, the axis of rotation of the third magnet 50 relative to the mounting member 30 and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 are not parallel to each other, and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 and the axis of rotation of the first magnet 10 relative to the mounting member 30 are not parallel to each other.

[0120] By adopting the above solution, the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 can be simultaneously driven to rotate relative to the mounting member 30 by a single driving member 00, thereby reducing the number of driving members 00. This improves the problem in the related art that during the operation of the magnetic field transmitter 100, the time-varying magnetic field is significantly interfered with by the driving member 00, resulting in poor stability and difficulty in completing interference calibration of the magnetic navigation system.

[0121] At least one of the first magnet 10 , the second magnet 20 , the third magnet 50 and the fourth magnet 60 is in transmission connection with the driving gear 401 via the driven gear 402 .

[0122] Such a configuration makes it convenient to adjust the relative positions of the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 through the driven gear 402, so that the axis of rotation of the second magnet 20 relative to the mounting member 30 and the axis of rotation of the third magnet 50 relative to the mounting member 30 are not parallel to each other, the axis of rotation of the third magnet 50 relative to the mounting member 30 and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 are not parallel to each other, and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 and the axis of rotation of the first magnet 10 relative to the mounting member 30 are not parallel to each other.

[0123] It should be noted that at least one of the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 is connected to the driving gear 401 through the driven gear 402, and the rest of the first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 can be connected to the driving gear 401 through a synchronous belt 41, a coupling, a synchronous chain, a cam or a connecting rod.

[0124] Optionally, the axis of rotation of the second magnet 20 relative to the mounting member 30 and the axis of rotation of the third magnet 50 relative to the mounting member 30 are arranged perpendicular to each other, the axis of rotation of the third magnet 50 relative to the mounting member 30 and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 are arranged perpendicular to each other, and the axis of rotation of the fourth magnet 60 relative to the mounting member 30 and the axis of rotation of the first magnet 10 relative to the mounting member 30 are arranged perpendicular to each other.

[0125] Such a setting can avoid the interaction force between the magnetic field generated by the first magnet 10 and the magnetic field generated by the second magnet 20 containing a radial component, the interaction force between the magnetic field generated by the second magnet 20 and the magnetic field generated by the third magnet 50 containing a radial component, the interaction force between the magnetic field generated by the third magnet 50 and the magnetic field generated by the fourth magnet 60 containing a radial component, and the interaction force between the magnetic field generated by the fourth magnet 60 and the magnetic field generated by the first magnet 10 containing a radial component, which leads to unnecessary interference and energy loss, makes it inconvenient to design the algorithm of the magnetic navigation system, and makes it difficult to complete the interference calibration of the magnetic navigation system.

[0126] In the second embodiment, four driven gears 402 are provided. When the driving gear 401 rotates, the four driven gears 402 will rotate driven by the driving gear 401. The first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 are all connected to the driving gear 401 through the driven gear 402. The first magnet 10, the second magnet 20, the third magnet 50 and the fourth magnet 60 can all be coaxially arranged with the driven gear 402 through a coupling.

[0127] It is understood that due to software algorithms, it may be necessary to assign a specific rotational speed relationship to the first magnet 10, the second magnet 20, the third magnet 50, and the fourth magnet 60. This can be achieved by changing the number of teeth on the four driven gears 402. Since the four driven gears 402 are all driven by the same driving gear 401, the number of teeth on the driven gear 402 directly determines the rotational speed of the coaxial magnets.

[0128] Please refer to Figure 8 , Figure 8 Schematic diagram of the structure of the magnetic field transmitter 100 in the third embodiment of the present application.

[0129] Different from the above embodiment, in the third embodiment, the transmission assembly 40 includes a transmission gear 403 , and the first magnet 10 and / or the second magnet 20 is in transmission connection with the driven gear 402 via the transmission gear 403 .

[0130] By adopting the above solution, it is convenient to adjust the transmission ratio between the first magnet 10 or the second magnet 20 and the driven gear 402 through the transmission gear 403 .

[0131] It should be noted that the first magnet 10 can be connected to the driven gear 402 via the transmission gear 403, and the second magnet 20 can be connected to the driven gear 402 via a timing belt 41, a coupling, a timing chain, a cam, or a connecting rod. Alternatively, both the first magnet 10 and the second magnet 20 can be connected to the driven gear 402 via the transmission gear 403.

[0132] Optionally, the third magnet 50 and the fourth magnet 60 are both connected to the driven gear 402 via the transmission gear 403. This arrangement facilitates adjustment of the transmission ratio between the third magnet 50 and the fourth magnet 60 and the driven gear 402.

[0133] Optionally, eight transmission gears 403 can be provided, with two in a group, the first magnet 10 being connected to a group of transmission gears 403 through the first rotating shaft 101, the second magnet 20 being connected to a group of transmission gears 403 through the second rotating shaft 201, the third magnet 50 being connected to a group of transmission gears 403 through the third rotating shaft 501, and the fourth magnet 60 being connected to a group of transmission gears 403 through the fourth rotating shaft 601.

[0134] It is understandable that if a specific speed relationship needs to be achieved among the first magnet 10 , the second magnet 20 , the third magnet 50 and the fourth magnet 60 , it is only necessary to design a suitable gear ratio for the two transmission gears 403 in the same group.

[0135] Please refer to Figure 9 , Figure 9 Schematic diagram of the structure of the magnetic field transmitter 100 in the fourth embodiment of the present application.

[0136] Different from the second embodiment, in the fourth embodiment, the transmission assembly 40 includes a gearbox 404 , and at least one of the first magnet 10 , the second magnet 20 , the third magnet 50 and the fourth magnet 60 is connected to the driven gear 402 via the gearbox 404 .

[0137] By adopting the above solution, the transmission ratio between the first magnet 10 , the second magnet 20 , the third magnet 50 or the fourth magnet 60 and the driven gear 402 can be adjusted through the gearbox 404 .

[0138] Optionally, four gearboxes 404 may be provided, and the first magnet 10 , the second magnet 20 , the third magnet 50 and the fourth magnet 60 are all connected to the transmission gear 403 through the gearbox 404 .

[0139] It should be noted that, in the fourth embodiment, the driving wheel and the driven wheel may not be helical gears with a helical angle of 45°, but may be bevel gears or spiral bevel gears.

[0140] Please refer to Figure 10 , Figure 10Schematic diagram of the structure of the magnetic field transmitter 100 in the fifth embodiment of the present application.

[0141] Different from the above embodiments, in the fifth embodiment, the transmission assembly 40 includes a synchronous belt 41 , and the first magnet 10 and / or the second magnet 20 are connected to the driven gear 402 through the synchronous belt 41 .

[0142] By adopting the above solution, when the first magnet 10 or the second magnet 20 is far away from the driven gear 402 , the first magnet 10 or the second magnet 20 can be connected to the driven gear 402 through the synchronous belt 41 .

[0143] It should be noted that the first magnet 10 and the driven gear 402 can be connected to each other through a synchronous belt 41, and the second magnet 20 and the driven gear 402 can be connected to each other through gears, couplings, synchronous chains, cams, or connecting rods. Alternatively, both the first magnet 10 and the second magnet 20 are connected to the driven gear 402 through a synchronous belt 41.

[0144] Optionally, the third magnet 50 and the fourth magnet 60 are both in transmission connection with the driven gear 402 via a synchronous belt 41 .

[0145] With this arrangement, when the third magnet 50 and the fourth magnet 60 are far away from the driven gear 402 , the third magnet 50 and the fourth magnet 60 can be connected to the driven gear 402 and the driven gear 402 can be connected to each other through the synchronous belt 41 .

[0146] Optionally, four synchronous belts 41 may be provided, and the first magnet 10 , the second magnet 20 , the third magnet 50 and the fourth magnet 60 are all connected to the transmission gear 403 through the synchronous belts 41 .

[0147] It is understandable that the transmission ratio between the first magnet 10 , the second magnet 20 , the third magnet 50 , the fourth magnet 60 and the driven gear 402 can also be changed by the synchronous belt 41 .

[0148] Please refer to Figure 11 , Figure 11 Schematic diagram of the structure of the magnetic field transmitter 100 in the sixth embodiment of the present application.

[0149] Different from the second embodiment, in the sixth embodiment, one of the driving gear 401 and the driven gear 402 is transmission-connected to the driving member 00 via a synchronous belt 41 , so as to realize transmission connection between the driving member 00 and the driving gear 401 .

[0150] By adopting the above solution, when the driving gear 401 or the driven gear 402 is far away from the driving member 00 , the driving gear 401 or the driven gear 402 can be connected to the driving member 00 and the driven gear 402 through the synchronous belt 41 .

[0151] For example, the driving gear 401 is connected to the driving member 00 through the synchronous belt 41, and the driving member 00 and the driving gear 401 can be placed on different axes. In this way, the relative positions of the driving member 00 and the driving gear 401 can be set more conveniently.

[0152] In a second aspect, an embodiment of the present application provides a magnetic navigation system, comprising a magnetic sensor and a magnetic field transmitter 100 as in the first aspect.

[0153] In the magnetic navigation system provided in the embodiment of the present application, since the magnetic field transmitter 100 includes a drive assembly and a magnet assembly, the drive assembly includes a drive member 00, and the magnet assembly includes a mounting member 30, a first magnet 10, and a second magnet 20, and the magnetic field transmitter 100 also includes a transmission assembly 40, it is possible that while the drive member 00 drives one of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30, the transmission assembly 40 simultaneously drives the other of the first magnet 10 and the second magnet 20 to rotate relative to the mounting member 30. Thus, the first magnet 10 can be driven to rotate relative to the mounting member 30 and the second magnet 20 can be driven to rotate relative to the mounting member 30 by one drive member 00, thereby reducing the number of drive members 00 and improving the problem of the magnetic field transmitter 100 in the related art having a relatively complex structure and a large overall size.

[0154] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A magnetic field transmitter, characterized in that: The magnetic field transmitter (100) comprises a driving component and a magnet component, wherein the driving component comprises a driving member (00), the magnet component comprises a mounting member (30), a first magnet (10) and a second magnet (20), the first magnet (10) and the second magnet (20) being spaced apart, the first magnet (10) and the second magnet (20) being rotatable relative to the mounting member (30), and the axis of rotation of the first magnet (10) relative to the mounting member (30) and the axis of rotation of the second magnet (20) relative to the mounting member (30) are not parallel; the magnetic field transmitter (100) further comprises a transmission component (40), the driving member (00) being used to drive one of the first magnet (10) and the second magnet (20) to rotate relative to the mounting member (30), and simultaneously drive the other of the first magnet (10) and the second magnet (20) to rotate relative to the mounting member (30) through the transmission component (40).

2. The magnetic field transmitter according to claim 1, characterized in that The driving member (00) includes a motor.

3. The magnetic field transmitter according to claim 1, characterized in that The transmission assembly (40) includes a synchronous belt (41), a first pulley (42) and a second pulley (43); the first magnet (10) is connected to the first pulley (42); the second magnet (20) is connected to the second pulley (43); the first pulley (42) and the second pulley (43) are connected to each other through the synchronous belt (41); one of the first pulley (42), the second pulley (43), the first magnet (10) and the second magnet (20) is connected to the driving member (00); the transmission assembly (40) also includes a synchronous gear (44), wherein: The first magnet (10) is connected to the first pulley (42) via the synchronous gear (44); And / or, the second magnet (20) and the second pulley (43) are transmission-connected via the synchronous gear (44).

4. The magnetic field transmitter according to claim 1, characterized in that The transmission assembly (40) comprises a synchronous gear (44), and the first magnet (10) and the second magnet (20) are transmission-connected via the synchronous gear (44).

5. The magnetic field transmitter according to claim 1, characterized in that The axis of rotation of the first magnet (10) relative to the mounting member (30) and the axis of rotation of the second magnet (20) relative to the mounting member (30) are perpendicular to each other.

6. The magnetic field transmitter according to claim 5, characterized in that The center of the first magnet (10) and the center of the second magnet (20) are in a first plane, and the center of the first magnet (10) and the center of the second magnet (20) are in a second plane, the first plane is defined by the axis of rotation of the first magnet (10) relative to the mounting member (30) and the axis of rotation of the second magnet (20) relative to the mounting member (30), the first plane and the second plane are perpendicular to each other, and the second plane is perpendicular to the axis of rotation of the first magnet (10) relative to the mounting member (30).

7. The magnetic field transmitter according to claim 1, characterized in that The transmission assembly (40) comprises a driving gear (401), the driving member (00) is in transmission connection with the driving gear (401), the first magnet (10) and the second magnet (20) are arranged at intervals around the driving gear (401), and the first magnet (10) and the second magnet (20) are both in transmission connection with the driving gear (401).

8. The magnetic field transmitter according to claim 7, characterized in that The transmission assembly (40) comprises a driven gear (402), and the first magnet (10) and / or the second magnet (20) are in transmission connection with the driving gear (401) via the driven gear (402).

9. The magnetic field transmitter according to claim 8, characterized in that The transmission assembly (40) includes a synchronous belt (41); wherein, The first magnet (10) and / or the second magnet (20) are connected to the driven gear (402) in a transmission manner via the synchronous belt (41); And / or, one of the driving gear (401) and the driven gear (402) is transmission-connected to the driving member (00) via the synchronous belt (41), so as to realize transmission connection between the driving member (00) and the driving gear (401).

10. The magnetic field transmitter according to claim 7, characterized in that The magnet assembly further comprises a third magnet (50) and a fourth magnet (60), and the third magnet (50) and the fourth magnet (60) are both rotatable relative to the mounting member (30), and the first magnet (10), the second magnet (20), the third magnet (50) and the fourth magnet (60) are sequentially and spaced apart around the driving gear (401), and the first magnet (10), the second magnet (20), the third magnet (50) and the fourth magnet (60) are all in contact with the driving gear (401). The second magnet (20) is dynamically connected with the mounting member (30), the axis of rotation of the third magnet (50) relative to the mounting member (30) is not parallel to each other, the axis of rotation of the third magnet (50) relative to the mounting member (30) is not parallel to each other, the axis of rotation of the fourth magnet (60) relative to the mounting member (30) is not parallel to each other, and the axis of rotation of the fourth magnet (60) relative to the mounting member (30) is not parallel to the axis of rotation of the first magnet (10) relative to the mounting member (30).

11. The magnetic field transmitter according to any one of claims 1 to 10, characterized in that: The magnetic field transmitter (100) further comprises a first angle detection sensor (70), the first angle detection sensor (70) being arranged corresponding to the first magnet (10), and the first angle detection sensor (70) being used to detect the angle of rotation of the first magnet (10) relative to the mounting member (30).

12. The magnetic field transmitter according to claim 11, characterized in that The first angle detection sensor (70) includes an optical encoding disk (71) and an optical encoding reading head (72), wherein the optical encoding disk (71) is connected to the first magnet (10), and the optical encoding disk (71) can rotate relative to the mounting member (30) along with the first magnet (10), and the optical encoding reading head (72) is arranged corresponding to the optical encoding disk (71), and the optical encoding reading head (72) is fixed relative to the mounting member (30).

13. A magnetic navigation system, characterized in that: The invention comprises a magnetic sensor and a magnetic field transmitter (100) according to any one of claims 1 to 12.

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