Magnetic interference monitoring methods, magnetic interference monitoring systems, and wheeled robots

Abstract

A magnetic interference monitoring method is implemented using a magnetic interference monitoring system comprising a magnetometer and a processing module. The magnetometer generates three magnetic sensing data corresponding to three axes. The method includes: in a stationary phase, the processing module converts the magnetic sensing data into three stationary magnetic conversion data represented in inertial coordinates using stationary attitude angle data; the processing module generates a normal magnetic range for each of the stationary magnetic conversion data; in a monitoring phase, the processing module converts the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates using current attitude angle data; and the processing module determines whether each of the current magnetic conversion data falls within the corresponding normal magnetic range to generate a monitoring result.

Description

Technical Field

[0001] This invention relates to a monitoring method, and more particularly to a method for monitoring magnetic interference. Prior Technology

[0002] Magnetometers sometimes encounter magnetic interference during use, leading to abnormal sensing data. Previously, the method for monitoring abnormal sensing data involved squared the sensing data corresponding to each of the three axes, summing the results, taking the square root, and then determining if the value was abnormal.

[0003] However, the aforementioned monitoring methods cannot distinguish the following abnormal conditions: an abnormal increase in sensing data on one axis and an abnormal decrease in sensing data on the other axis. Therefore, how to develop a new monitoring method that can more accurately detect abnormal sensing data is the subject of further exploration in this invention. Summary of the Invention

[0004] Therefore, the objective of this invention is to provide a method for monitoring magnetic interference.

[0005] Another object of the present invention is to provide a magnetic interference monitoring system and a wheeled robot incorporating the magnetic interference monitoring system.

[0006] Therefore, the magnetic interference monitoring method of the present invention is implemented by a magnetic interference monitoring system, which includes a magnetometer and a processing module electrically connected to the magnetometer. The magnetometer generates three magnetic sensing data corresponding to three axes respectively. The method includes: in a stationary phase, the processing module converts the magnetic sensing data into three stationary magnetic conversion data represented in inertial coordinates through stationary attitude angle data; the processing module generates a normal magnetic range based on each of the stationary magnetic conversion data; in a monitoring phase, the processing module converts the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates through current attitude angle data; and the processing module determines whether each of the current magnetic conversion data falls within the corresponding normal magnetic range to generate a monitoring result, wherein when the magnetic conversion data does not fall within the corresponding normal magnetic range, the monitoring result indicates an abnormality, and when the magnetic conversion data falls within the corresponding normal magnetic range, the monitoring result indicates normality.

[0007] In some embodiments, the magnetic interference monitoring system also includes an accelerometer electrically connected to the processing module, which generates three acceleration sensing data corresponding to the three axes respectively. During the stationary phase, the processing module calculates the stationary attitude angle data based on the acceleration sensing data and the magnetic sensing data within a predetermined time period.

[0008] In some implementations, when the processing module generates the normal magnetic force range based on each of the static magnetic force conversion data, it adds and subtracts an offset to each of the static magnetic force conversion data to generate the upper and lower boundaries of the normal magnetic force range, respectively.

[0009] The magnetic interference monitoring system of the present invention includes a magnetometer and a processing module. The magnetometer generates three magnetic sensing data corresponding to three axes, and the processing module is electrically connected to the magnetometer.

[0010] During a resting phase, the processing module converts the magnetic sensing data into three resting magnetic conversion data represented in inertial coordinates using a resting attitude angle data.

[0011] The processing module generates a normal magnetic force range based on the static magnetic force conversion data of each unit.

[0012] During a monitoring phase, the processing module converts the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates using current attitude angle data.

[0013] The processing module determines whether each current magnetic force conversion data falls within the corresponding normal magnetic force range to generate a monitoring result. When the magnetic force conversion data does not fall within the corresponding normal magnetic force range, the monitoring result indicates an abnormality. When the magnetic force conversion data falls within the corresponding normal magnetic force range, the monitoring result indicates normality.

[0014] The advantages of this invention are: by using the processing module to convert the magnetic sensing data into static magnetic conversion data represented by inertial coordinates through the static attitude angle data during the static stage, and generating the normal magnetic range based on each of the static magnetic conversion data, and determining whether each of the current magnetic conversion data falls within the corresponding normal magnetic range during the monitoring stage, the state of magnetic interference can be monitored more accurately. Simple Explanation of the Diagram

[0015] Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: Figure 1 is a schematic diagram of hardware connection relationships according to an embodiment of the present invention; Figure 2 is a flowchart of this embodiment, illustrating the steps in a settling stage; and Figure 3 is another flowchart of this embodiment, illustrating the steps in a monitoring phase. Implementation

[0016] Before the invention is described in detail, it should be noted that similar elements are represented by the same numbers in the following description.

[0017] Before this invention is described in detail, it should be noted that, unless otherwise defined, the term "electrically connected" in this patent specification refers to the "coupled" relationship between computer hardware (e.g., electronic systems, devices, apparatuses, units, components), and broadly refers to "wired electrical connections" achieved by physically connecting multiple computer hardware components through conductor / semiconductor materials, and "radio connections" that achieve wireless data transmission using wireless communication technologies (e.g., but not limited to wireless networks, Bluetooth, and electromagnetic induction). On the other hand, unless otherwise defined, the term "electrical connection" in this patent specification also broadly refers to "direct electrical connections" achieved by directly coupling multiple computer hardware components to each other, and "indirect electrical connections" achieved by indirectly coupling multiple computer hardware components through other computer hardware components.

[0018] Referring to Figure 1, an embodiment of the magnetic interference monitoring method of the present invention is implemented by a magnetic interference monitoring system 100, which includes a magnetometer 1, an accelerometer 2 and a processing module 3 electrically connected to the magnetometer 1 and the accelerometer 2.

[0019] The magnetometer 1 generates three magnetic field sensing data points corresponding to the three axes, respectively. The accelerometer 2 generates three acceleration sensing data points corresponding to the three axes, respectively.

[0020] Referring to Figures 1 and 2, the steps performed by the present invention during a resting phase are described below. First, as shown in step S01, the processing module 3 calculates a resting attitude angle based on the acceleration sensing data and the magnetic force sensing data within a predetermined time (e.g., 2 seconds).

[0021] More specifically, the processing module 3 averages multiple acceleration sensing records corresponding to the X-axis within a predetermined time period to obtain an X-axis average acceleration, averages multiple acceleration sensing records corresponding to the Y-axis within the predetermined time period to obtain a Y-axis average acceleration, averages multiple acceleration sensing records corresponding to the Z-axis within the predetermined time period to obtain a Z-axis average acceleration, averages multiple magnetic force sensing records corresponding to the X-axis within the predetermined time period to obtain an X-axis average magnetic force, averages multiple magnetic force sensing records corresponding to the Y-axis within the predetermined time period to obtain a Y-axis average magnetic force, and averages multiple magnetic force sensing records corresponding to the Z-axis within the predetermined time period to obtain a Z-axis average magnetic force. Then, the stationary attitude angle data is calculated based on the X-axis average acceleration, the Y-axis average acceleration, the Z-axis average acceleration, the X-axis average magnetic force, the Y-axis average magnetic force, and the Z-axis average magnetic force.

[0022] The stationary attitude angle data includes a roll angle, a pitch angle, and a yaw angle.

[0023] Next, as shown in step S02, the processing module 3 converts the magnetic sensing data into three static magnetic conversion data represented in inertial coordinates using the stationary attitude angle data.

[0024] More specifically, let the roll angle be roll, the tilt angle be pitch, the azimuth angle be yaw, the magnetic force sensing data be M, and the stationary magnetic force conversion data be MI. Then, the stationary magnetic force conversion data MI expressed in inertial coordinates can be obtained by the following formula.

[0025] Next, as shown in step S03, the processing module 3 generates a normal magnetic force range based on each of the static magnetic force conversion data.

[0026] More specifically, when the processing module 3 generates the normal magnetic force range based on each of the static magnetic force conversion data, it adds and subtracts an offset to each of the static magnetic force conversion data to generate the upper and lower boundaries of the normal magnetic force range respectively.

[0027] Referring to Figures 1 and 3, the following describes the steps performed by the present invention in a monitoring phase. First, as shown in step S11, the processing module 3 converts the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates using current attitude angle data.

[0028] The current attitude angle data is obtained, for example, from the magnetic sensing data generated by the magnetometer 1 and the acceleration sensing data generated by the accelerometer 2. In another embodiment, the current attitude angle data can also be obtained by additionally using the sensing data of a gyroscope.

[0029] The calculation method for converting the magnetic sensing data into current magnetic conversion data expressed in inertial coordinates is the same as the algorithm in step S02, and will not be described in detail here.

[0030] Next, as shown in step S12, the processing module 3 determines whether each current magnetic force conversion data falls within the corresponding normal magnetic force range to generate a monitoring result. When the magnetic force conversion data does not fall within the corresponding normal magnetic force range, the monitoring result indicates an abnormality; when the magnetic force conversion data falls within the corresponding normal magnetic force range, the monitoring result indicates normality.

[0031] In summary, the magnetic interference monitoring method of the present invention uses the processing module 3 to convert the magnetic sensing data into static magnetic conversion data represented by inertial coordinates through the static attitude angle data during the static stage, and generates the normal magnetic range based on each static magnetic conversion data. During the monitoring stage, it is determined whether each current magnetic conversion data falls within the corresponding normal magnetic range, thereby enabling more accurate monitoring of the state of magnetic interference. Therefore, the objective of the present invention is indeed achieved.

[0032] However, the above description is merely an embodiment of the present invention and should not be construed as limiting the scope of the present invention. Any simple equivalent changes and modifications made in accordance with the scope of the patent application and the contents of the patent specification of the present invention shall still fall within the scope of the patent of the present invention.

[0033] 100: Magnetic Interference Monitoring System 1: Magnetometer 2: Accelerometer 3: Processing Module S01~S03: Steps S11~S12: Steps

Claims

1. A method for monitoring magnetic interference, implemented by a magnetic interference monitoring system, the magnetic interference monitoring system comprising a magnetometer and a processing module electrically connected to the magnetometer, the magnetometer generating three magnetic sensing data corresponding to three axes respectively, the method comprising: in a stationary phase, the processing module converting the magnetic sensing data into three stationary magnetic conversion data represented in inertial coordinates using stationary attitude angle data; the processing module generating a normal magnetic force range based on each of the stationary magnetic conversion data; in a monitoring phase, the processing module converting the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates using current attitude angle data; and the processing module determining whether each of the current magnetic conversion data falls within the corresponding normal magnetic force range to generate a monitoring result, wherein... When the magnetic force conversion data does not fall within the corresponding normal range of magnetic force, the monitoring result indicates an abnormality; when the magnetic force conversion data falls within the corresponding normal range of magnetic force, the monitoring result indicates normality.

2. The magnetic interference monitoring method as described in claim 1, wherein, The magnetic interference monitoring system also includes an accelerometer electrically connected to the processing module. The accelerometer generates three acceleration sensing data corresponding to the three axes respectively. During the stationary phase, the processing module calculates the stationary attitude angle data based on the acceleration sensing data and the magnetic sensing data within a predetermined time period.

3. The magnetic interference monitoring method as described in claim 1, wherein, When the processing module generates the normal magnetic force range based on each of the static magnetic force conversion data, it adds and subtracts an offset to each of the static magnetic force conversion data to generate the upper and lower boundaries of the normal magnetic force range, respectively.

4. A magnetic interference monitoring system, comprising: a magnetometer generating three magnetic sensing data corresponding to three axes respectively; and a processing module electrically connected to the magnetometer; in a stationary phase, the processing module converts the magnetic sensing data into three stationary magnetic conversion data represented in inertial coordinates using stationary attitude angle data; the processing module generates a normal magnetic force range based on each of the stationary magnetic conversion data; in a monitoring phase, the processing module converts the magnetic sensing data into three current magnetic conversion data represented in inertial coordinates using current attitude angle data; the processing module determines whether each of the current magnetic conversion data falls within the corresponding normal magnetic force range to generate a monitoring result, wherein... When the magnetic force conversion data does not fall within the corresponding normal range of magnetic force, the monitoring result indicates an abnormality; when the magnetic force conversion data falls within the corresponding normal range of magnetic force, the monitoring result indicates normality.

5. The magnetic interference monitoring system as claimed in claim 4 further includes an accelerometer electrically connected to the processing module, the accelerometer generating three acceleration sensing data corresponding to the three axes respectively, and during the stationary phase, the processing module calculates the stationary attitude angle data based on the acceleration sensing data and the magnetic sensing data within a predetermined time period.

6. In the magnetic interference monitoring system as described in claim 4, when the processing module generates the normal magnetic range based on each of the static magnetic conversion data, it adds and subtracts an offset to each of the static magnetic conversion data to generate the upper and lower boundaries of the normal magnetic range respectively.

7. A wheeled robot comprising a magnetic interference monitoring system as described in any one of claims 4 to 6.

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