CN113900052A - Article type identification device and method - Google Patents

Abstract

The invention relates to the application field of magnetic sensors, and provides an article type identification device and a method, wherein the article type identification device comprises a base body and an article, the base body is provided with at least one identification position, the article can be detachably matched with the identification position, and each identification position is matched with one article at most simultaneously; the article is provided with a permanent magnet, the base body is provided with a magnetic sensor which can be used for detecting the direction of a magnetic field at the position corresponding to the identification position, and the magnetic sensor and the corresponding identification position are distributed along a first direction; the direction of the magnetic field generated by the permanent magnet at the corresponding magnetic sensor is a second direction; the article type quantity is at least two, and for same discernment position, the contained angle that the corresponding second direction of arbitrary two kinds of articles when with this discernment position cooperation all has the difference with first direction. The invention can correspondingly obtain the type of the article according to the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, and has the advantages of simple structure, higher identification accuracy and simple and convenient matching operation of the article and the substrate.

Description

Article type identification device and method

Technical Field

The invention relates to the application field of magnetic sensors, in particular to an article type identification device and method.

Background

The electronic chessboard has the advantages of an offline entity chessboard and an online APP chessboard, can provide the user with experience of the entity chessboard, can also apply various intelligent playing methods in the APP, and is widely applied to remote teaching, single-person breakthrough and other application occasions.

Taking chess/chess as an example, common electronic chessboards include the following two types:

according to one scheme, Hall sensors are arranged on a chessboard, permanent magnets are arranged on chesses, the Hall sensors are used for sensing whether chesses exist in a chess position or not, the type of the corresponding chesses is determined through chess playing rules and a chess playing track memorizing mode, and relevant published patent documents are CN101721804B, CN201889059U, CN205042085U, CN205730273U and CN 105709409A.

In another scheme, technologies such as radio frequency identification, optical identification, magnetic coding array and the like are additionally adopted to identify the types of the chess pieces, for example, CN102872586B adopts optical coding to identify the types of the chess pieces, CN111617462A/CN202983151U adopts radio frequency technology to identify the types of the chess pieces, CN2523473Y adopts reflective identification of the types of the chess pieces, and CN110478887A adopts a magnetic coding array mode to identify the types of the chess pieces.

In addition, the chinese patent application with publication number CN106730401A discloses a hand tool device and an anti-interference recognition method for quickly recognizing the type of the treatment head of the hand tool.

In addition, chinese patent application publication No. CN106405454A discloses a magnetic angle sensing system, which detects an angular position of a magnet by sensing a magnetic field of the magnet by a magnetic angle sensor, and fig. 1 and 4 of the scheme show two different relative positional relationships between the magnetic angle sensor and the magnet, respectively.

For the scheme of determining the type of the corresponding chessman by the chess playing rules and the way of memorizing the chess playing tracks, the scheme is usually only suitable for the condition of determining the initial positions of the chessmen, which greatly limits the use of the electronic chessboard by users, so that the users cannot independently place residual games, and on the other hand, the scheme is not suitable for chess types with uncertain initial positions of the chessmen.

For the scheme of additionally adopting technologies such as radio frequency identification, optical identification, magnetic coding array and the like to identify the types of the chess pieces, the scheme needs to adopt sensors which are several times as many as the number of chess positions, and the number of the sensors is more, so that the cost of the electronic chessboard is higher, and the structure is more complex; for example, the scheme of radio frequency identification often needs to set a magnetic sensor to sense whether the chessman is located at the chess falling position, a radio frequency identification module and a magnetic sensor need to be set at each chess falling position, and the electronic chessboard has more sensors/identification modules, which results in higher cost and more complex structure.

For the scheme of identifying the type of the hand treatment head by adopting the mode of sensing the installation angle of the permanent magnet by the encoder, the hand treatment head and the hand treatment handle of the scheme are mutually fixed when being matched, the relative positions of the hand treatment head and the hand treatment handle are determined, after the hand treatment head rotates for a certain angle relative to the hand treatment handle, the hand treatment head and the hand treatment handle cannot be installed, the type identification of the hand treatment head cannot be realized, and a strict limit position structure must be arranged between the hand treatment head and the hand treatment handle of the scheme. Therefore, when two entities (such as the handle and the therapeutic head of the hand tool, or the substrate and the article, for example) which are mutually matched can relatively rotate, the installation angle of the permanent magnet changes due to the rotation, so the solution disclosed in CN106730401A cannot identify the type/kind of the other entity by the way of "the magnetic encoder on one entity identifies the installation angle of the permanent magnet on the other entity", and the application range of the solution is narrow.

Disclosure of Invention

One of the objects of the present invention is to overcome the above-mentioned drawbacks of the prior art and to provide an article type identification device which can identify the type of an article, has a small number of sensors, a simple structure, and is easy to operate by matching the article with an identification position.

The invention provides an article type identification device, which comprises a base body and articles, wherein the base body is provided with at least one identification position, the articles can be detachably matched with the identification positions, and each identification position is matched with one article at most simultaneously; the article is provided with a permanent magnet, the base body is provided with a magnetic sensor which can be used for detecting the direction of a magnetic field at the position corresponding to the identification position, and the magnetic sensor and the corresponding identification position are distributed along a first direction; the direction of the magnetic field generated by the permanent magnet at the corresponding magnetic sensor is a second direction; the article type quantity is at least two, and for same discernment position, the contained angle that the corresponding second direction of arbitrary two kinds of articles when with this discernment position cooperation all has the difference with first direction.

Therefore, on one hand, when the identification position is matched with an article, the type of the article at the corresponding identification position can be correspondingly obtained according to the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction; on the other hand, the identification accuracy of the invention for identifying the article types is not reduced along with the weakening of the magnetism of the permanent magnet; on the other hand, when the article is matched with the identification position, no matter how the article rotates around the axis which is parallel to the first direction and passes through the magnetic sensor compared with the base body, the included angle between the first direction and the second direction cannot be greatly influenced, and the normal identification of the article type cannot be influenced; in addition, each identification position of the invention can realize the identification of the article type only by correspondingly arranging one magnetic sensor, thereby being beneficial to simplifying the structure of the article type identification device.

In the present invention, the expressions relating to the engagement of an article with an identification position and the engagement of an article with an identification position refer to the engagement state of an article with a corresponding identification position when the article type can be identified by a corresponding magnetic sensor, except for the meaning of specifically describing the abnormal engagement or the abnormal engagement state.

Preferably, the direction from the south pole to the north pole of the permanent magnet is a third direction, and the included angle between the corresponding third direction and the corresponding first direction when any two articles are matched with the identification position is different.

It is from top to bottom, through the difference of the third direction that various article correspond and the contained angle of first direction for the contained angle of the second direction that various article correspond and first direction produces the difference, is favorable to the design and manufacturing link to hold the contained angle of second direction and first direction, is favorable to promoting the controllability to the contained angle of second direction and first direction.

Another preferable scheme is that the permanent magnets corresponding to various articles have the same shape and size, and for the same identification position, the permanent magnets corresponding to any two articles when matched with the identification position have difference in at least one of installation position, posture and number.

Therefore, the permanent magnets used by the articles are the same, and the mass production is facilitated.

It should be noted that, in the scheme that the first direction and the second direction are both vector directions, two permanent magnets with reversed south poles and north poles are also considered to have different postures; also, in a scheme in which the article is rotatable about an axis parallel to the first direction and passing through the magnetic sensor, two or more permanent magnets that can be rotated to the same position should be regarded as the same mounting position, and two or more permanent magnets that can be rotated to the same posture should be regarded as the same mounting posture.

In a further preferred embodiment, the article further comprises a main body having insertion holes, and the permanent magnets are inserted into the corresponding insertion holes.

Therefore, the manufacturing method is beneficial to simplifying the production and processing of the articles, reducing the production difficulty of the articles, improving the installation accuracy of the permanent magnets and facilitating the mass production of the articles.

It is further preferable that each identification bit corresponds to a magnetic sensor, and the magnetic sensor includes a magnetic sensor chip.

Therefore, each identification position can identify the type of the article by only correspondingly arranging one magnetic sensor, and the structure of the article type identification device is simplified.

In a further preferred embodiment, the magnetic sensor is located opposite to the center of the corresponding identification bit in the first direction.

Therefore, when the article rotates around the axis parallel to the first direction and passing through the corresponding magnetic sensor compared with the base body, the normal identification of the article type is not influenced, and the position change of the article relative to the center position of the identification position is not caused.

The magnetic sensor is opposite to the center position of the corresponding identification bit along the first direction, namely a straight line which passes through the center position of the identification bit and is parallel to the first direction passes through the corresponding magnetic sensor.

In a further preferred embodiment, the object is detachably engaged with the corresponding identification position in the first direction.

In another preferred embodiment, the magnetic sensor can be configured to detect a linear direction in which a magnetic field vector of a position of the magnetic sensor is located, and at least one of the first direction and the second direction is a linear direction; the magnetic sensor can detect the vector direction of a magnetic field at the position of the magnetic sensor, wherein the first direction is the vector direction, and the second direction is the vector direction.

It is further preferred that the article is rotatable relative to the substrate, the axis of rotation of the article passing through the magnetic sensor, the axis of rotation of the article being parallel to the first direction.

Still preferably, the object type recognition means is a quiz, the object is a movable block representing letters, or the object is a movable block representing numbers/operators.

Therefore, after the arithmetic processing and the voice broadcasting/digital display are combined, the method can be used for children to learn arithmetic/English/pinyin, and compared with learning methods such as a tablet computer, the method is favorable for increasing the pleasure of the children to the arithmetic learning, is favorable for the children to learn happy, can prevent the children from contacting the computer/mobile phone prematurely, can prevent the children from being enthusiastic in the virtual world of the computer/mobile phone, and is favorable for the healthy growth of the children.

In a further preferred aspect, the article type identification device is a tool magazine including tools and shelves for storing the tools, the base is the shelf, and the article is the tool.

Therefore, the tool changing mechanism can randomly arrange the placing positions of the tools on any identification position without following the specific corresponding relation between the tools and the identification positions, and can quickly find the position of the target tool as long as each tool is correspondingly arranged on the identification position.

In a further preferred embodiment, the engagement of the base body with the object has a self-return and/or a defined position structure; the automatic return structure is used for returning the articles which are offset relative to the identification positions to the corresponding identification positions; the limiting bit structure is used for limiting the articles to the corresponding identification bits.

Therefore, the object can be prevented from deviating from the center position of the corresponding identification position from a physical angle to be too far, and the object type can be conveniently and normally identified.

In a further preferred embodiment, the article type identification device has a status presentation unit corresponding to the identification bit, and the status presentation unit is connected to the corresponding magnetic sensor in communication.

As can be seen from the above, it is convenient for an operator (for example, a player) to grasp whether the article is in a state of being engaged with the identification position and whether the article is in a state of being deviated from the center position of the identification position so that the type identification cannot be normally performed.

The further scheme is that the base body is provided with a working surface, the identification position is located on the working surface, the normal line of the working surface is along the first direction, and the identification position is marked by a visual positioning mark on the working surface.

Further, the status prompting unit comprises status indicating lamps extending/distributed along the outer edge of the corresponding identification position, and the status indicating lamps form a visual positioning mark of the corresponding identification position.

It is thus clear that the status indicator lamp both had been used for instructing whether the corresponding discernment position has the article, whether has the article that the cooperation is unusual like this, was used for assisting operating personnel to place article accuracy in the discernment position that corresponds again, was favorable to the structure of base member succinct.

Still further scheme is that article kind recognition device is the chess utensil, and the chess board of chess utensil is the base member, and the piece of chess utensil is article, and the chess position of falling of chess board has the gridline for the identification position on the working face, and the center of falling chess position is located the crossing position of gridline, and the gridline encloses into a plurality of square areas, and the center in square area has the status indicator lamp.

Therefore, the chess of the embodiment can be applied to the practice of the incomplete game, the application range of the chess of the embodiment can be expanded, and the user can use the chess of the embodiment freely; moreover, because the status indicator lamp is positioned in the center of the square area, a plurality of status indicator lamps (for example, four status indicator lamps) are correspondingly arranged at the periphery of the same chess-dropping position, and the status of the chess-dropping position is indicated by the fact that the four status indicator lamps at the periphery of the same chess-dropping position are jointly lightened/flickered; and the same status indicator lamp can correspond to a plurality of (for example four) chess falling positions, so that the quantity of the status indicator lamps is equivalent to that of the chess falling positions, and the status indicator lamps four times the quantity of the chess falling positions are not required to be arranged, thereby being beneficial to simple structure.

Another object of the present invention is to overcome the above-mentioned drawbacks of the prior art and to provide a method for the aforementioned article type identification apparatus.

The article type identification method provided by the invention comprises the following steps: the article type identification device correspondingly obtains the type of the article at the corresponding identification position according to the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction.

According to a preferable scheme, each article type is respectively corresponding to a preset included angle interval, and a distance is reserved between the preset included angle intervals corresponding to each article type; the method comprises the following steps that a preset included angle interval corresponding to each article type is a possible range of an included angle between a magnetic field direction detected by a corresponding magnetic sensor and a first direction when the corresponding article type is matched with an identification position; the method comprises the following steps: acquiring an actual included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction; determining a preset included angle interval where the actual included angle is located; and determining the type of the article corresponding to the preset included angle section where the actual included angle is located as the type of the article at the corresponding identification position.

It is another object of the present invention to overcome the above-mentioned drawbacks of the prior art and to provide a method for the article type identification apparatus.

The magnetic sensor can be used to detect the magnitude of the magnetic field; the article type identification method provided by the invention comprises the following steps: the article type identification device judges whether the corresponding identification position is matched with an article or not according to the size of the magnetic field detected by the magnetic sensor and the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, and correspondingly obtains the type of the article matched with the corresponding identification position.

Therefore, the size of the magnetic field, namely the absolute value of the size of the magnetic field, can avoid the problem that the type identification is wrong due to the fact that the article deviates from the center position of the identification position too far, and is favorable for improving the accuracy of the type identification of the article.

According to a preferable scheme, each article type corresponds to a preset included angle interval, and each article type corresponds to a preset size interval; the preset included angle interval corresponding to each article type is a possible range of an included angle between the direction of the magnetic field detected by the corresponding magnetic sensor and the first direction when the corresponding article type is matched with the identification position, and a distance is reserved between the preset included angle intervals corresponding to any two article types; the preset size interval corresponding to each article type is the possible range of the size of the magnetic field detected by the corresponding magnetic sensor when the corresponding article type is matched with the identification position; the method comprises the following steps: acquiring an actual included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, and acquiring the actual size of the magnetic field detected by the magnetic sensor; when the actual included angle and the actual size are sequentially located in the preset included angle interval and the preset size interval corresponding to the same article type, determining that the article is matched with the identification position, and determining that the article at the corresponding identification position belongs to the article type corresponding to the actual included angle and the actual size interval.

The article type identification device is further provided with a state prompt unit corresponding to the identification position, and the state prompt unit is in communication connection with the corresponding magnetic sensor; when the identification position is matched with an article, the corresponding state prompting unit prompts that the state is normal; and/or when the actual size is larger than or equal to a preset size threshold value and the position of the identification position is not determined to be matched with an article, the corresponding state prompting unit prompts that the state is abnormal.

Therefore, whether the article is matched with the identification position or not and whether the article is in a state of deviating from the center position of the identification position or not can be conveniently mastered by an operator (such as a chess player), so that the state of type identification cannot be normally carried out, and the operator can be conveniently reminded to match the article with the corresponding identification position.

The state prompting unit is a state indicating lamp/sound prompting device; when the identification position is determined to be matched with an article, the corresponding state prompting unit prompts that the article is in a first normal state; and when the actual size is smaller than the preset size threshold value, the corresponding state prompting unit prompts that the state is the second normal state.

Drawings

Fig. 1 is a partial configuration diagram of a first embodiment of an article type identification device according to the present invention.

Fig. 2 is a partially exploded view of the first embodiment of the article type identification means of the present invention.

FIG. 3 is a schematic sectional view of a chess piece "red commander" in a first embodiment of the object type identifier according to the present invention, fitted to a game location.

FIG. 4 is a schematic sectional view showing a chess piece "Renzhi" fitted to a game location in the first embodiment of the apparatus for identifying an object of the present invention.

Fig. 5 is a schematic cross-sectional view of the first embodiment of the article type recognition apparatus of the present invention showing the matching of the "red phase" of the playing piece with the playing position.

Fig. 6 is a schematic cross-sectional view of a chess piece "red phase" fitted to a chess-dropping place in a modification of the first embodiment of the article type identification apparatus of the present invention.

Fig. 7 is a structural view of a base body in a second embodiment of the article type identification device of the present invention.

Fig. 8 is a block diagram of a second embodiment of the article type identification apparatus of the present invention.

Detailed Description

First embodiment

Fig. 1 and 2 of the present embodiment use a unified spatial rectangular coordinate system (right-hand system) to represent the relative positional relationship between the features, where the Z-axis positive direction is vertically upward, and the Z-axis positive direction is an example of the first direction.

The article type identification device of the present embodiment is a chess that can be used for online-offline linkage, please refer to fig. 1 and fig. 2, fig. 1 is a partial structure diagram of the chess, fig. 2 is an exploded view of fig. 1, the chess includes a chessboard 1 (example of a base) and chess pieces 2 (example of articles), the chessboard 1 includes a bottom case 11, a panel 13 and a circuit board 12, the panel 13 is located on the upper side (Z-axis forward side) of the bottom case 11, the bottom case 11 and the panel 13 enclose an installation cavity 15, and the circuit board 12 is fixed in the installation cavity 15.

In particular, the board 1 also has a rechargeable battery (not shown in the figures) which supplies the circuit board with power.

Referring to fig. 1 and 2, the upper main surface of the panel 13 is a working surface 131, that is, the Z-axis positive side main surface of the panel 13 is the working surface 131, the normal of the working surface 131 is along the Z-axis direction, nine rows of chess positions 132 (examples of identification positions) are distributed on the working surface 131 along the X-axis direction, each row of chess positions 132 has ten chess positions distributed along the Y-axis direction, nine rows and nine columns of chess positions 132 are distributed in an array, and the chess positions 132 are positions for chess playing on the chessboard 1 during normal chess playing.

Specifically, the working surface 131 has the grid lines 133, and the specific scheme of the grid lines 133 may be set with reference to the prior art, which is not described herein again, and the intersection position of the grid lines 133 is the center position of the chess falling positions 132, and when the chess playing activity is performed, the chess pieces 2 are separably placed in the corresponding chess falling positions 132 along the Z-axis direction.

Referring to fig. 2, ninety magnetic sensors 121 distributed in ten rows and nine columns are disposed on the circuit board 12, each magnetic sensor 121 corresponds to each chess-dropping position 132 one by one, the magnetic sensors 121 are located right below the corresponding chess-dropping position 132, and specifically, the magnetic sensors 121 are located on the negative side of the Z-axis corresponding to the center position of the chess-dropping position 132.

The magnetic sensor 121 of the present embodiment can be used to detect the magnetic field vector direction and the magnetic field vector magnitude at its location, and specifically, the magnetic sensor 121 detects the magnetic field vector direction and the magnetic field vector magnitude at its sensitive element.

Specifically, the magnetic sensor 121 is a three-axis magnetic sensor 121, and the three-axis magnetic sensor 121 can be used to detect vector components of a magnetic field vector in three directions perpendicular to each other, for example, vector components of a magnetic field in an X-axis direction, a Y-axis direction, and a Z-axis direction, so that the magnetic field vector direction and the magnetic field vector magnitude at the magnetic sensor 121 can be obtained by calculation. The three-axis magnetic sensor 121 may be disposed by referring to the prior art, for example, by referring to the three-axis magnetic sensor in the chinese patent application publication No. CN108205119A, or by referring to the single-chip three-axis magnetic sensor in the chinese patent application publication No. CN103913709A or CN103105592A, or by referring to the three-axis linear magnetic sensor in the chinese patent application publication No. CN 103954920A. The three-axis magnetic sensor has a magnetic sensor chip, such as the magnetic sensor chip of CN103105592A, which has a sensitive element sensitive to a magnetic field signal.

The outer contour of the cross section of the normal line of the chess piece 2 along the Z-axis direction is circular, the chess piece 2 comprises a red soldier, a red vehicle and a red soldier which are shown in figures 1 and 2, and comprises red commander, a red photo, a red horse, a red cannon, a red soldier, a black general, a black soldier, a black elephant, a black horse, a black automobile, a black cannon and a black pawn which are not shown in figures 1 and 2, the types and the number of the chess piece 2 are fourteen, and the contents and the colors of the marks such as 'commander' and 'soldier' on the chess piece 2 are visible type marks of the chess piece 2.

The built-in permanent magnet that has of piece 2, the direction that the north pole was pointed to from south pole of permanent magnet is the third direction, and the shape and size and the magnetic field intensity of the built-in permanent magnet of each piece 2 are all the same, but the relative piece 2 of putting angle of permanent magnet of arbitrary two kinds of piece 2 is different, promptly, piece 2 is when arranging chess position 132 in, the third direction that each piece 2 of the same kind corresponds is the same with the positive contained angle of Z axle, and the third direction that arbitrary two kinds of piece 2 correspond all has the difference with the positive contained angle of Z axle.

Specifically, the permanent magnet is disc-shaped, the third direction of the permanent magnet is along the radial direction of the disc, the included angle between the disc surface of the permanent magnet and the Z-axis direction is equal to the included angle between the third direction of the permanent magnet and the Z-axis direction, the center of the disc of the permanent magnet coincides with the center of the disc of the corresponding chess piece 2, when the chess piece 2 is placed in the chess placing position 132, the corresponding magnetic sensor 121 is located under the center of the disc of the chess piece 2 (i.e., the negative side of the Z-axis), and the corresponding magnetic sensor 121 is located under the center of the permanent magnet corresponding to the chess piece 2. Of course, the permanent magnet may be in the form of a bar, a ring, or the like.

For example, the permanent magnet 21a of the "red commander" 2a shown in fig. 3, the permanent magnet 21b of the "red commander" 2b shown in fig. 4, the permanent magnet 21c of the "red phase" 2c shown in fig. 5, and the like, the third direction of the permanent magnet 21a is along the Z-axis positive direction, that is, the included angle between the third direction of the permanent magnet 21a and the Z-axis positive direction is 0 °, the included angle between the third direction a2 of the permanent magnet 21b and the Z-axis positive direction is 90 °, the included angle between the third direction A3 of the permanent magnet 21c and the Z-axis positive direction is 45 °, … …, and since the number of the types of the pieces 2 is fourteen, it is preferable that the difference between the included angles between the third direction corresponding to any two pieces 2 and the Z-axis positive direction is at least 12.5 °.

Correspondingly, the magnetic field vector direction of the corresponding permanent magnet at the corresponding magnetic sensor 121 when the chess pieces 2 are matched with the chess placing position 132 is the second vector direction (example of the second direction), for the same chess placing position 132, the included angles between the second vector direction corresponding to each chess piece 2 of the same kind and the forward direction of the Z axis are the same, the included angles between the second vector direction corresponding to any two kinds of chess pieces 2 and the forward direction of the Z axis are different, that is, the included angles between the second vector direction corresponding to the chess pieces 2 of different kinds and the forward direction of the Z axis are different from each other, so that the kind of the chess piece 2 corresponding to the chess placing position 132 can be obtained through the included angle between the magnetic field vector direction detected by the magnetic sensor 121 and the forward direction of the Z axis in the embodiment.

Of course, it is preferable that the range of angles between the corresponding second vector directions and the positive direction of the Z-axis is the same when the same kind of chess pieces are matched with the chess positions 132.

Optionally, in other embodiments of the present invention, the main body of the chess piece 2 has a hole, the corresponding permanent magnet 21 is inserted into the hole, the permanent magnets 21 of the various chess pieces 2 have the same shape and size, and the included angle between the second vector direction and the positive direction of the Z axis when the chess piece 2 is matched with the chess-falling position 132 is changed by changing the insertion position, posture or number of the permanent magnets 21 on the corresponding chess piece 2. Therefore, the chessmen 2 are easy to produce and process, the accuracy of the installation position of the permanent magnet is improved, and the batch production of the chessmen is realized.

The circuit board 12 further has a processor, the magnetic sensor and the status indicator light are in communication connection with the processor, and the processor stores a computer program to execute an article type identification method, so as to identify the type of the chess piece 2, specifically, in a scheme of determining the type of the chess piece 2 at the corresponding chess position 132 according to an included angle between the magnetic field vector direction detected by the magnetic sensor 121 and the positive direction of the Z axis, the article type identification method may include: step one, acquiring an actual included angle between the direction of a magnetic field vector detected by a magnetic sensor 121 and the positive direction of a Z axis; step two, comparing and judging whether the actual included angle is equal to a preset included angle corresponding to a certain type of chess pieces 2, if so, executing step three, and determining that the chess pieces 2 at the positions corresponding to the chess positions 132 belong to the type of chess pieces 2 corresponding to the preset included angle; the preset included angle corresponding to the chessman 2 is the included angle between the magnetic field vector direction detected by the corresponding magnetic sensor 121 and the positive direction of the Z axis when the chessman 2 of the kind is matched with the chess position 132.

For example, referring to fig. 3 and 4, the second vector direction corresponding to "red commander" 2a and the corresponding third direction are in the same direction and are along the positive direction of the Z axis, that is, the included angle between the second vector direction corresponding to "red commander" 2a and the positive direction of the Z axis is 0 °, the second vector direction B2 corresponding to "red commander" 2B is opposite to the corresponding third direction a2, "the included angle between the second vector direction B2 corresponding to" red commander "2B and the positive direction of the Z axis is 90 °, when the corresponding magnetic sensor 121 detects that the included angle between the magnetic field vector direction and the positive direction of the Z axis is 0 °, the corresponding pawn 2 is determined to be" red commander "2 a, when the corresponding magnetic sensor 121 detects that the included angle between the magnetic field vector direction and the positive direction of the Z axis is 90 °, the corresponding pawn 2 is determined to be" red commander "2B", and the included angles between the second vector directions corresponding to other pawns 2 and the positive direction of the Z axis can be obtained by experiments, it is needless to say that, in consideration of installation and manufacturing errors, in this embodiment, a preset included angle interval is correspondingly set for each kind of the playing pieces 2, and the preset included angle interval is a possible range of an included angle between the magnetic field vector direction detected by the magnetic sensor 121 and the positive direction of the Z axis when the playing piece 2 of this kind is matched with the playing position 132, and a distance is provided between the preset included angle intervals corresponding to any two kinds of the playing pieces 2, for example, the preset included angle interval of "hongshuai" 2a is [0 ° and 3 ° ], so that when the magnetic sensor 121 detects that the included angle between the magnetic field vector direction and the positive direction of the Z axis is within the range of [0 ° and 3 ° ], the playing piece 2 at the corresponding playing position is determined to be "hongshuai" 2a ", and further, for example, the preset included angle interval of" hongshuai "2 b is [87 ° and 93 ° ], so that when the magnetic sensor 121 detects that the included angle between the magnetic field vector direction and the positive direction of the Z axis is [87 °, the chess pieces 2 corresponding to the chess falling positions are determined to be the ' red chess ' 2b within the range of 93 degrees ', so that under the condition that the center lines of the chess pieces 2 are properly deviated from the center positions of the chess falling positions 132, the invention can still detect the types of the chess pieces 2, namely, the embodiment allows the center lines of the chess pieces 2 and the center positions corresponding to the chess falling positions 132 to have position deviation within a certain range, so that a player does not need to strictly align the center lines of the chess pieces 2 and the center positions of the chess falling positions 132 when dropping the chess pieces, the matching difficulty of the chess pieces 2 and the chess falling positions 132 is favorably reduced, and the chess playing experience of the player is favorably improved.

Because the type of the chess pieces 2 at the chess position 132 can be detected, the chess of the embodiment can be applied to the practice of the incomplete game of online-offline linkage, the application range of the chess of the embodiment is favorably expanded, and the user can conveniently and freely use the chess of the embodiment; moreover, each chess falling position 132 of the present embodiment can realize the identification of the type of the chess pieces 2 only by correspondingly arranging one magnetic sensor 121, which is beneficial to simplifying the structure of the chess.

And, because this embodiment obtains 2 kinds of chessmen that correspond chess position 132 department through the contained angle between magnetic field vector direction that magnetic sensor 121 detected and the Z axle forward, and under the condition that chessmen 2 is located and corresponds chess position 132, no matter how rotatory about the axis that is on a parallel with the Z axle direction chessmen 2, the contained angle between third direction and the Z axle forward that does not all change and correspond the permanent magnet, also can not change the contained angle between second vector direction and the Z axle forward that corresponds, therefore can not influence article kind identification device to 2 kinds of discernments of chessmen, that is, this embodiment can be in the kind of discernment chessmen 2 under the condition of not carrying out circumference limit position to chessmen 2, be favorable to reducing the cooperation degree of difficulty of chessmen 2 and chess position 132, be favorable to promoting the chess-playing experience of chess hand.

Optionally, in other embodiments of the present invention, referring to fig. 6, when the chess piece 2 is fitted to the chess-falling position, the central position of the permanent magnet 21 of the chess piece 2 may also be staggered from the corresponding magnetic sensor 121 in the Z-axis direction, that is, the central position of the permanent magnet 21 is not directly opposite to the corresponding magnetic sensor 121 in the Z-axis direction, so that when the chess piece 2 rotates around an axis parallel to the Z-axis direction at the chess-falling position, the included angle between the corresponding second magnetic field vector direction and the Z-axis positive direction still cannot be changed, and the present invention can still identify the kind of the chess piece 2 without performing a circumferential limit on the chess piece 2, which is still beneficial to improving the chess-falling experience of a hand.

Alternatively, in other embodiments of the present invention, the shape, structure, third direction, placement posture, etc. of the permanent magnet may be adjusted, and the position of the corresponding magnetic sensor may also be adjusted, as long as the included angles between the second vector direction and the Z-axis positive direction corresponding to different kinds of pawns 2 are different from each other, the present invention is able to identify the kind of pawn 2 without performing a circumferential limit on the pawn 2.

As can be seen from the above description, in this embodiment, when the chess piece 2 is located at the chess-falling position 132, the type of the chess piece 2 at the chess-falling position 132 can be obtained correspondingly through the included angle between the magnetic field vector direction detected by the corresponding magnetic sensor 121 and the Z-axis forward direction, however, when the center line of the chess piece 2 is far away from the center position of the chess-falling position 132, the magnetic field vector direction detected by the corresponding magnetic sensor 121 may be greatly changed, the included angle between the magnetic field vector direction detected by the magnetic sensor 121 and the Z-axis forward direction may be greatly changed, and the type of the chess piece 2 may be identified incorrectly in this embodiment.

In order to avoid recognition errors caused by the fact that the center of the chess piece 2 deviates from the center position of the chess falling position 132 by too far, in other embodiments of the present invention, a limit position structure may be provided for the matching of the chess piece 2 and the corresponding chess falling position 132, the limit position structure limits the chess piece 2 to the corresponding chess falling position 132, and preferably the limit position structure does not limit the rotation of the chess piece 2 relative to the chessboard 1; for example, the chess falling position 132 is set to be in a groove shape, the cross section profile of the normal line of the groove along the vertical direction is in a circular shape, the cross section profile of the normal line of the groove along the vertical direction is matched with the cross section profile of the normal line of the chess piece 2 along the vertical direction, and the chess piece 2 is placed in the groove corresponding to the chess falling position 132; of course, the position limiting structure may also be a magnet positioning structure, for example, the magnet positioning and adsorbing structure disclosed in the utility model with the publication number CN210582466U is referred to.

Optionally, in other embodiments of the present invention, an automatic returning structure may be provided for the matching of the chess pieces 2 and the corresponding chess falling positions 132, and the automatic returning structure may refer to, for example, a Magnetic alignment system (Magnetic alignment systems) disclosed in U.S. Pat. No. US20210099027a1, and returns the chess piece 2 offset from the chess falling positions 132 to the corresponding chess falling positions 132 through the automatic returning structure, which is beneficial to accurate matching position of the chess piece 2 and the corresponding chess falling positions 132, and to ensure accurate identification of the types of the chess pieces.

However, the arrangement of the grooves may cause the chess playing experience of the players to be poor, and after the chess is made, when various types of chess pieces 2 are placed at the chess-falling position 132, the magnitudes of the magnetic field vectors detected by the corresponding magnetic sensors 121 and the included angles between the directions of the magnetic field vectors detected by the corresponding magnetic sensors 121 and the forward direction of the Z axis are determined, so as to avoid the error of type identification of the chess pieces 2 caused by the fact that the centers of the chess pieces 2 deviate from the central position of the chess-falling position 132 by too far, in this embodiment, it is preferable to determine whether the chess pieces 2 are matched with the corresponding chess-falling position 132 according to the included angles between the directions of the magnetic field vectors detected by the magnetic sensors 121 and the forward direction of the Z axis and according to the magnitudes of the magnetic field vectors detected by the magnetic sensors 121, and correspondingly obtain the types of the chess pieces 2 at the chess-falling position 132.

Specifically, each kind of chess pieces 2 has a corresponding preset size interval, which is a possible range of the magnetic field vector size detected by the corresponding magnetic sensor 121 when the kind of chess pieces 2 is matched with the chess position 132; when the magnetic sensor 121 detects a magnetic field vector, first, an actual included angle between the direction of the magnetic field vector detected by the magnetic sensor 121 and the forward direction of the Z axis is obtained, and an actual size of the magnetic field vector detected by the magnetic sensor 121 is obtained; then whether the actual included angle and the actual size are sequentially located in a preset included angle interval and a preset size interval corresponding to the same chess piece 2 is compared and judged, if so, the chess piece 2 corresponding to the chess position 132 is determined to belong to the type of the chess piece 2 corresponding to the actual included angle and the actual size interval, otherwise, the chess piece 2 not matched with the corresponding chess position 132 is determined.

In this embodiment, the chess falling position 132 is matched with the chess piece 2, which only means that the chess piece 2 is located at the position corresponding to the chess falling position 132 and can normally perform type identification; if the pawn 2 is partially located at the playing position 132, the situation that the type of the pawn 2 cannot be identified is not that the pawn 2 fits the playing position 132.

Certainly, the chess position 132 is not favorable for the chess pieces 2, but the situation that the distance between the center lines of the chess pieces 2 deviated from the center position of the chess position 132 is too large is fed back to the player, and the player experience is not good; therefore, in the present embodiment, it is preferable that a status indicator lamp (an example of a status prompting unit, such as the annular lamp 14 described later) is disposed corresponding to each chess falling position 132, the status indicator lamp is in communication connection with the corresponding magnetic sensor 121, the status indicator lamp is disposed adjacent to the corresponding chess falling position 132, the status indicator lamp can be turned on to green or red, and when it is determined that the actual included angle and the actual size are sequentially located in the preset included angle interval and the preset size interval corresponding to the same kind of chess pieces 2, the status indicator lamp is turned on to green; when the actual size is determined to be larger than or equal to the preset size threshold value, and the actual included angle and the actual size are not determined to be sequentially located in the preset included angle interval and the preset size interval corresponding to the same chess piece 2, the state indicator lamp is turned on to be red; and when the actual size is determined to be smaller than the preset size threshold value, the status indicator lamp is turned off.

When the actual size of the magnetic field vector detected by the magnetic sensor is greater than or equal to the size threshold, it indicates that the chess piece 2 is located in the area close enough to the corresponding chess-falling position, and certainly, the area is greater than the area corresponding to the chess-falling position 132, and at this time, the chess piece 2 may be matched with the chess-falling position 132, or may exceed the chess-falling position 132 so as not to normally identify the type of the chess piece 2, specifically, the size threshold may be selected through an experiment mode, and is not described herein again.

The status indicator lamp is lighted green and is the display status of status indicator lamp for first normal condition, and the status prompt unit suggestion state that also is normal, shows to correspond to match on the chess position 132 has piece 2, also promptly: the corresponding chess falling position 132 is provided with the chessmen 2, the distance between the center line of the corresponding chessmen 2 and the center position of the corresponding chess falling position 132 is in the range capable of normally identifying the type, and at the moment, the type of the corresponding chessmen 2 can be normally identified; the status indicator light is lighted to red, that is, the display status of the status indicator light is abnormal, that is, the status prompting unit prompts that the status is abnormal, and it indicates that the corresponding chess position 132 has the chess piece 2 with abnormal matching, that is: the center line of the corresponding chess piece 2 deviates from the center position of the corresponding chess falling position 132 too far, the distance between the center line of the chess piece 2 and the center position of the corresponding chess falling position 132 exceeds the range capable of normally identifying the type, and at the moment, the type of the chess piece 2 cannot be normally identified; the status indicator light is turned off, that is, the display status of the status indicator light is the second normal status, which indicates that the corresponding chess position 132 does not have the chess piece 2.

This embodiment can be lightened for red through the status indicator lamp and remind the chess player to adjust chess piece 2 to the central line and be close to the state that corresponds chess position 132 central point and put like this to ensure that the kind of chess piece 2 can be normally discerned.

Optionally, in other embodiments of the present invention, the status prompting unit may also include a sound prompting device such as a speaker or a buzzer, and the sound prompting device and the status indicator light may be used simultaneously or alternatively, and when the center line of the chess piece 2 deviates too far from the center position of the corresponding chess position 132, the player is prompted by the sound generated by the sound prompting device; and/or when piece 2 is in the fit state with corresponding chess position 132, can carry out normal discernment to the kind of piece 2, the mode that sends sound through the sound suggestion device reminds the chess player to know.

Each chess falling position 132 of the present embodiment corresponds to one status prompt unit, and of course, in other embodiments of the present invention, a plurality of chess falling positions 132 may share one status prompt unit, and when the chess piece 2 is abnormally dropped, the same status prompt unit prompts the abnormal status.

Specifically, in the scheme of jointly determining the type of the chess piece 2 at the corresponding chess position 132 according to the included angle between the direction of the magnetic field vector detected by the magnetic sensor 121 and the forward direction of the Z axis and the magnitude of the magnetic field vector detected by the magnetic sensor 121, the steps of the article type identification method may be as follows: the method comprises the steps of firstly, acquiring the actual size of a magnetic field vector detected by a magnetic sensor, and acquiring the actual included angle between the direction of the magnetic field vector detected by the magnetic sensor and the positive direction of a Z axis; step two, judging whether the actual size is larger than or equal to a preset size threshold value, if so, executing step three, comparing and judging whether the actual included angle and the actual size are sequentially located in a preset included angle interval and a preset size interval corresponding to the same type of chess pieces 2, if so, executing step four, determining that the chess pieces 2 corresponding to the chess position 132 belong to the type of the chess pieces 2 corresponding to the actual included angle and the actual size interval, and lighting the status indicator lamp as a green lamp, otherwise, executing step five, and lighting the status indicator lamp as a red lamp.

Of course, the status indicator lamp can be used for indicating whether the corresponding chess position is matched with the chess piece or not and whether the corresponding chess position is matched with the abnormal chess piece or not, and can also be used for sending an operation prompt for the chess playing person, for example, in the process that the chess of the embodiment is applied to the chess teaching, the status indicator lamp corresponding to a certain chess position flickers, namely, the status indicator lamp indicates that the chess playing person should move the matched chess piece at the chess position next, or indicates that the chess playing person should move the chess pieces at other positions next to be matched with the chess position next.

In this embodiment, the grid lines 133 may serve as the visual positioning marks of the chess position 132, the center of the chess position 132 is indicated by the intersection positions of the grid lines 133, so that the player can accurately place the chess piece 2 on the chess position 132, and the position state of the chess piece 2 is indicated by the state indicating lamp; because the corresponding intersection position of the grid line 133 is covered when the chess piece 2 falls on the chess falling position 132, the situation that the central line of the chess piece 2 deviates from the center of the chess falling position 132 is not easy to be intuitively grasped by a chess player; preferably, the visual positioning mark may be, for example, a ring mark (provided with reference to a ring light 14 described later) extending along the outer edge of the corresponding chess falling position 132, or the visual positioning mark may be a plurality of discrete marks distributed along the outer edge of the corresponding chess falling position 132, when the chess piece 2 is located in the area surrounded by the corresponding visual positioning mark, the status indicator light is turned on to green, and the type of the chess piece 2 can be normally identified; when the chess pieces 2 exceed the areas surrounded by the corresponding visual positioning marks, the status indicator lamps are lightened to be red, and the types of the chess pieces 2 cannot be normally identified; therefore, the chess pieces 2 cannot cover the corresponding visual positioning marks when being placed in the chess falling positions 132, and the auxiliary chess player can accurately fall the chess pieces 2 into the corresponding chess falling positions 132.

The ring corresponding to the visual positioning mark is slightly larger than the excircle contour of the section of the normal of the chess piece 2 along the Z-axis direction, and the specific position of the visual positioning mark can be determined through experiments, which is not repeated herein.

In this embodiment, when the chess piece 2 is located in the ring-shaped mark corresponding to a certain chess-placing position, the chess piece 2 is considered to be matched with the certain chess-placing position.

Preferably, the status indicator light is set to be in the shape of the aforementioned visual positioning mark, please refer to fig. 1 to 5, for example, the status indicator light is set to be the ring light 14, or more than two status indicator lights distributed along the outer edge of the corresponding chess falling position 132, at this time, the status indicator light is used for both indicating the position status of the chess pieces 2 and assisting the player to accurately fall the chess pieces 2 on the corresponding chess falling position 132, which is beneficial to the simple structure of the chessboard 1.

In other preferred embodiments of the present invention, a status indicator lamp is disposed at the center of the square region surrounded by the grid lines 133, and since the status indicator lamp is located at the center of the square region, four status indicator lamps are corresponding to the periphery of the same chess-dropping position, and the status of the chess-dropping position is indicated by the fact that the four status indicator lamps at the periphery of the same chess-dropping position are turned on/blinked together; and same status indicator lamp can be corresponding to four chess positions, and this makes the quantity of status indicator lamp equal with the quantity of chess positions, and need not set up the status indicator lamp that is quadruple in chess positions quantity, is favorable to simple structure.

Optionally, in other embodiments of the present invention, the magnetic sensor is only used for detecting a linear direction in which a magnetic field vector is located, the first direction and the second direction are both linear directions, at this time, two vector directions (a Z-axis positive direction and a Z-axis negative direction) parallel to the first direction are not distinguished, and two vector directions parallel to the second direction are not distinguished, and for a same chess position, an included angle between any two kinds of chess pieces and the first direction corresponding to the chess position when the two kinds of chess pieces are matched with the chess position has a difference, so that a kind of the chess pieces can be obtained by an included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, of course, in this scheme, a possible range of the included angle between the first direction and the second direction is 0 ° to 90 °, the difference of the included angles between the first direction and the second direction corresponding to various chesses is smaller, the requirement on the detection precision of the magnetic sensor is higher, and the possibility of error of the detection result is higher, therefore, the scheme of the embodiment is preferably adopted, so that the magnetic sensor can be used for detecting the vector direction of the magnetic field, the first direction and the second direction are both vector directions, the included angle range of the first direction and the second direction is 0-180 degrees, the difference of the included angles between the first direction and the second direction corresponding to various chesses can be set to be larger, the requirement on the detection precision of the magnetic sensor is lower, and the possibility of error of the detection result is favorably reduced.

Optionally, in other embodiments of the present invention, the article type identification device of the present invention may also be other chess such as military chess, international chess, animal chess, etc., and particularly, the article type identification device of the present invention may also be chess with uncertain initial placement positions of the chess pieces, which can also realize online and offline linked chess playing and realize remote cooperative chess playing.

Second embodiment

Fig. 7 and 8 of the present embodiment use a unified spatial rectangular coordinate system (right-hand system) to indicate the relative position relationship between the features, wherein the Z 'axis positive direction is vertical upward, and the Z' axis positive direction is the first vector direction.

Referring to fig. 7 and 8, the object type identification device of the present embodiment is an educational toy, which includes a base 1 'and a plurality of objects 2', the base 1 'has a working surface 11' with a normal line facing upward along a vertical direction, the working surface 11 'has five grooves 12', the normal line of the groove 12 'has a circular cross-sectional shape along the vertical direction, the grooves 12' are sequentially spaced along an X 'axis, and each groove 12' is located at an identification position.

Specifically, the base 1 'is also provided with an identification switch 3' for turning on or off the identification function.

The circuit board is arranged below the working surface 11 ', the normal line of the main surface of the circuit board is in the vertical direction, five magnetic sensors are arranged on the circuit board and correspond to the five grooves 12 ', and the magnetic sensors are located right below the center positions of the corresponding grooves 12 '.

The number of the types of the articles 2 'of the present embodiment is fifteen, each article 2' represents a number/operator, the fifteen numbers/operators are respectively "0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "+", "", "×", "÷" and "=", for example, fig. 8 shows articles "1", "+", "3", "=" and "4", the upper surface of each article 2 'has an identifier of the corresponding number/operator, and the identifier of the number/operator is a visible type identifier of the article 2'.

The articles 2 'are cylindrical, the cross-sectional profile of the normal to the articles 2' in the direction of the Z 'axis is circular, the overall shape of each article 2' is the same size, the articles 2 'have lower surfaces with normals in the direction of the Z' axis, the articles 2 'are detachably fitted in the recesses 12', and each recess 12 'is fitted with at most one article 2' at the same time.

When the article 2 'is matched with the groove 12', the type of the article 2 'is identified according to the included angle between the vector direction of the magnetic field detected by the corresponding magnetic sensor and the positive direction of the Z' axis.

Therefore, the embodiment can be used for children to learn arithmetic after combining operation processing and voice broadcasting/digital display, compared with learning modes such as a tablet personal computer, the mode is beneficial to increasing the pleasure of the children to arithmetic learning and enjoying learning of the children, and can prevent the children from contacting the computer/mobile phone prematurely, avoid the children from being enthusiastic in the virtual world of the computer/mobile phone, and be beneficial to the healthy growth of the children.

Alternatively, in other embodiments of the present invention, the number of the grooves 12 'may be four, six, seven, etc. to match the calculation learning requirements of different difficulty levels, and the grooves 12' may be arranged to be distributed along an arc, a curve, etc. to meet the aesthetic requirements for appearance.

Alternatively, in other embodiments of the present invention, the articles 2 'representing different numbers/operators may be replaced by articles representing different letters, for example, the articles representing different letters include twenty-six articles representing "a", "b", "c", "d", "e", "f", "g", "h", etc., the article type is derived according to the angle between the magnetic field vector direction sensed by the magnetic sensor and the positive direction of the Z' axis, so that after combining the arithmetic processing and the voice broadcasting/digital display (e.g. existing calculator), the method can be used for children to learn english/pinyin.

In order to avoid that the center line of the article 2 ' is too far away from the center position of the identification position, the identification position is set to be in the shape of a groove 12 ', and the center line of the article 2 ' is limited from being too far away from the center position of the identification position by the groove 12 ', alternatively, in other embodiments of the present invention, each identification position may be correspondingly provided with a visual identifier, and the visual identifier is used for indicating the position of the corresponding identification position, so that when a child uses the educational toy of the present embodiment, the article 2 ' can be accurately aligned with the center position of the corresponding identification position; the visual identifier of the embodiment can be set by referring to the grid line intersection and the visual positioning identifier of the first embodiment; of course, it is preferable that the identification position is formed in the shape of the groove 12 ', which is more advantageous to avoid the center line of the article 2 ' from deviating too far from the center position of the identification position, and is more advantageous to ensure accurate type identification of the article 2 '.

The rest of this embodiment is the same as that described in the first embodiment.

For example, in this embodiment, the position relationship between the identification position, the corresponding magnetic sensor, and the article 2' engaged with the identification position may be set by referring to the position relationship between the chess-dropping position, the corresponding magnetic sensor, and the chess pieces engaged with the chess-dropping position in the first embodiment, and details thereof are not repeated here.

The magnetic sensor of this embodiment can be used to detect the direction and magnitude of the magnetic field vector at the position of the magnetic sensor, and the specific embodiment of the magnetic sensor can refer to the description of the first embodiment.

For another example, a status indicator lamp may be provided for the identification position in a matching manner to indicate that the article 2 'is matched at the corresponding identification position and indicate that the article 2' with abnormal matching is matched at the corresponding identification position; the specific configuration of the status indicator lamp can refer to the first embodiment.

Third embodiment

The article type identification device of the embodiment is used for a machining center, the machining center is provided with a tool magazine, a main shaft and a tool changing mechanism, the tool magazine is used for storing tools, the tool magazine can be a bamboo hat type tool magazine, a disc type tool magazine or a chain type tool magazine, and the tool magazine is provided with a plurality of mounting positions.

The tool magazine of this embodiment is article kind recognition device, and the tool magazine of this embodiment is the tool magazine, and the cutter of this embodiment is article, and the installation position of this embodiment is the identification bit, and the main shaft of this embodiment is used for carrying out machining to the instrument after installing the cutter, in order to satisfy different machining demands, for example cutting, grinding and milling of different precision, the main shaft need cooperate different cutters at different processing stages.

The tool changing mechanism is used for performing a tool changing action, for example, the tool changing mechanism takes and places a tool on the spindle into the tool magazine, and then takes another tool out of the tool magazine and mounts the tool onto the spindle, and the tool changing mechanism may be a manipulator, for example.

The scheme of the cooperative operation of the tool magazine, the spindle and the tool changing mechanism of the machining center can be set by referring to the prior art, and is not described herein again.

The number of types of the cutters is multiple, for example, turning cutters of different types/parameters are different types of cutters, sharpening cutters of different types/parameters are different types of cutters, and milling cutters of different types/parameters are different types of cutters.

The first vector direction of the present embodiment is, for example, one of directions parallel to the axial direction of the tool.

The permanent magnet is arranged in the tool of the embodiment, the magnetic sensor is correspondingly arranged at the mounting position of the tool magazine, and when the tool of the embodiment is matched with the mounting position, the type of the tool is identified according to the included angle between the magnetic field vector direction detected by the magnetic sensor and the first vector direction, namely the type and the parameter of the tool at the mounting position are identified.

The rest of this embodiment is the same as that described in the first embodiment.

For example, in this embodiment, when the tool is fitted to the mounting position, the relative position relationship between the tool, the corresponding permanent magnet, and the corresponding magnetic sensor may be set by referring to the relative position relationship between the chess pieces, the corresponding permanent magnet, and the corresponding magnetic sensor in the first embodiment, which is not described herein again.

In addition, the arrangement of the permanent magnets in different types of cutters may also refer to the arrangement of the permanent magnets in different types of chess pieces of the first embodiment, specifically, the included angle between the third direction and the first vector direction of the permanent magnets of any two types of cutters has a difference.

Alternatively, in other embodiments of the present invention, the article type identification device may also be a spindle of a machining center/numerical control machine, the spindle is internally provided with a magnetic sensor, the tool is internally provided with a permanent magnet, when the tool is mounted on the spindle, the first vector direction is parallel to the axial direction of the spindle, and the type of the tool mounted on the spindle, that is, the model and the parameter of the tool, are identified by an angle between the magnetic field vector direction detected by the magnetic sensor internally provided in the spindle and the first vector direction; similarly, when the tool is engaged with the spindle, the relative positional relationship among the tool, the corresponding permanent magnet, and the corresponding magnetic sensor in this embodiment may be set with reference to the relative positional relationship among the pawns, the corresponding permanent magnet, and the corresponding magnetic sensor in the first embodiment.

Alternatively, in another embodiment of the present invention, the article type identification device may also be another type of tool library, where the tool library has a storage rack and tools, the tools are provided with permanent magnets, the storage rack has storage positions (examples of identification positions) and magnetic sensors, and the tools are placed in the storage positions, and the types of the tools at the storage positions are detected according to the corresponding magnetic sensors.

Finally, it should be emphasized that the above-described preferred embodiments of the present invention are merely examples of implementations, rather than limitations, and that many variations and modifications of the invention are possible to those skilled in the art, without departing from the spirit and scope of the invention.

Claims (17)

1. The article type identification device comprises a base body and articles, wherein the base body is provided with at least one identification position, the articles can be detachably matched with the identification positions, and each identification position is matched with one article at most simultaneously;

the method is characterized in that:

the article is provided with a permanent magnet, the base body is provided with a magnetic sensor which can be used for detecting the direction of a magnetic field at the position corresponding to the identification position, and the magnetic sensor and the corresponding identification position are distributed along a first direction;

the direction of the magnetic field generated by the permanent magnet at the corresponding magnetic sensor is a second direction;

the number of the types of the articles is at least two, and for the same identification position, the included angles between the corresponding second direction and the first direction of any two types of the articles when the articles are matched with the identification position are different.

2. The article type identification device according to claim 1, characterized in that:

the direction from the south pole to the north pole of the permanent magnet is a third direction, and included angles between the corresponding third direction and the corresponding first direction of any two kinds of articles when the articles are matched with the identification position are different.

3. The article type identification device according to claim 1, characterized in that:

the permanent magnets corresponding to various articles are the same in shape and size, and for the same identification position, the permanent magnets corresponding to any two articles when matched with the identification position have difference in at least one of installation position, posture and number.

4. The article type identification device according to claim 1, characterized in that:

the article also has a main body with insertion holes, and the permanent magnets are inserted into the corresponding insertion holes.

5. The article type identification device according to claim 1, characterized in that:

each identification bit corresponds to one magnetic sensor, and each magnetic sensor comprises a magnetic sensing chip;

along the first direction, the magnetic sensor is opposite to the center position of the corresponding identification bit;

the article is detachably matched with the corresponding identification position along the first direction;

the magnetic sensor can be used for detecting the linear direction of the magnetic field vector at the position of the magnetic sensor, and at least one of the first direction and the second direction is the linear direction; or the magnetic sensor can detect the magnetic field vector direction of the position where the magnetic sensor is located, wherein the first direction is a vector direction, and the second direction is a vector direction.

6. The article type identification device according to claim 1, characterized in that:

the article is rotatable relative to the substrate, the axis of rotation of the article passing through the magnetic sensor, the axis of rotation of the article being parallel to the first direction.

7. The article type identification device according to claim 1, characterized in that:

the matching of the base body and the article has a self-return structure and/or a limiting structure;

the automatic return structure is used for returning the articles which are offset relative to the identification positions to the corresponding identification positions;

the limiting bit structure is used for limiting the article to the corresponding identification bit.

8. The article kind identification device according to any one of claims 1 to 7, characterized in that:

the article type identification device is provided with a state prompting unit corresponding to the identification position, and the state prompting unit is in communication connection with the corresponding magnetic sensor.

9. The article type identification device according to claim 8, characterized in that:

the base member has the working face, the discernment position is located the working face, the normal line of working face is followed first direction, the discernment position by visual location sign on the working face marks.

10. The article type identification device according to claim 9, characterized in that:

the status prompting unit comprises status indicating lamps extending/distributed along the outer edge of the corresponding identification position, and the status indicating lamps form the visual positioning mark of the corresponding identification position.

11. The article type identification device according to claim 10, characterized in that:

the article type identification device is a chess tool, a chessboard of the chess tool is the base body, the chesses of the chess tool are the articles, the chess falling positions of the chessboard are the identification positions, the working surface is provided with grid lines, the centers of the chess falling positions are positioned at the intersection positions of the grid lines, the grid lines enclose a plurality of square areas, and the centers of the square areas are provided with the state indicator lamps;

or

The object type identification device is a educational stationery, the object is a movable block representing letters, or the object is a movable block representing numbers/operators;

or

The article type identification device is a tool magazine including tools and a rack for storing the tools, the base is the rack, and the article is the tool.

12. An article type identification method applied to the article type identification device according to any one of claims 1 to 11;

the method is characterized in that:

the method comprises the following steps: and the article type identification device correspondingly obtains the type of the article at the corresponding identification position according to the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction.

13. The article type identification method according to claim 12, characterized in that:

each article type corresponds to a preset included angle interval, and a distance is reserved between the preset included angle intervals corresponding to the article types;

the preset included angle interval corresponding to each type of the articles is a possible range of an included angle between the direction of the magnetic field detected by the corresponding magnetic sensor and the first direction when the corresponding type of the articles is matched with the identification position;

the method comprises the following steps:

acquiring an actual included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction;

determining the preset included angle interval where the actual included angle is located;

and determining the type of the article corresponding to the preset included angle interval where the actual included angle is located as the type of the article at the corresponding identification position.

14. An article type identification method applied to the article type identification device according to any one of claims 1 to 7;

the method is characterized in that:

the magnetic sensor can be used for detecting the magnitude of a magnetic field;

the method comprises the following steps: the article type identification device judges whether the article is matched at the corresponding identification position according to the size of the magnetic field detected by the magnetic sensor and the included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, and correspondingly obtains the type of the article matched at the corresponding identification position.

15. The article type identification method according to claim 14, characterized in that:

each article type corresponds to a preset included angle interval respectively, and each article type corresponds to a preset size interval respectively;

the preset included angle interval corresponding to each article type is a possible range of an included angle between the direction of the magnetic field detected by the corresponding magnetic sensor and the first direction when the corresponding article type is matched with the identification position, and a distance is reserved between the preset included angle intervals corresponding to any two article types;

the preset size interval corresponding to each type of the articles is a possible range of the size of the magnetic field detected by the corresponding magnetic sensor when the corresponding type of the articles is matched with the identification position;

the method comprises the following steps:

acquiring an actual included angle between the direction of the magnetic field detected by the magnetic sensor and the first direction, and acquiring the actual size of the magnetic field detected by the magnetic sensor;

when the actual included angle and the actual size are sequentially located in the same range of the preset included angle corresponding to the type of the article and the range of the preset size, the identification position is matched with the article, and the corresponding article at the identification position belongs to the type of the article corresponding to the range of the actual included angle and the actual size.

16. The article type identification method according to claim 15, characterized in that:

the article type identification device is provided with a state prompt unit corresponding to the identification position, and the state prompt unit is in communication connection with the corresponding magnetic sensor;

when the article is matched at the identification position, the corresponding state prompting unit prompts that the state is normal;

and/or

And when the actual size is larger than or equal to a preset size threshold value and the identification position is not determined to be matched with the article, the corresponding state prompting unit prompts that the state is abnormal.

17. The article type identification method according to claim 16, characterized in that:

the state prompting unit is a state indicating lamp/sound prompting device;

when the article is matched at the identification position, the corresponding state prompting unit prompts a first normal state;

and when the actual size is smaller than a preset size threshold value, the corresponding state prompting unit prompts that the state is in a second normal state.

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