CN219286137U - Three-dimensional magnetic field generating device for electromagnetic positioning and tracking - Google Patents
Three-dimensional magnetic field generating device for electromagnetic positioning and tracking Download PDFInfo
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- CN219286137U CN219286137U CN202223180808.1U CN202223180808U CN219286137U CN 219286137 U CN219286137 U CN 219286137U CN 202223180808 U CN202223180808 U CN 202223180808U CN 219286137 U CN219286137 U CN 219286137U
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Abstract
The application relates to a three-dimensional magnetic field generating device for electromagnetic positioning and tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module, a magnetic field emission module and a magnetic shielding module. The magnetic field control module is used for generating a driving signal for controlling the generation of a magnetic field; the magnetic field emission module responds to the driving signal generated by the magnetic field control module and then generates a magnetic field signal; the magnetic shielding module is used for isolating the magnetic field emission module from the magnetic field control module so as to prevent the magnetic field emission module from interfering the magnetic field control module. According to the electromagnetic positioning device, the magnetic shielding three-dimensional structure with the hollow structure is arranged, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure, the generated three-dimensional alternating magnetic field can be effectively prevented from interfering the magnetic field control module, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and therefore electromagnetic positioning accuracy is improved.
Description
Technical Field
The application relates to the technical field of electromagnetism, in particular to a three-dimensional magnetic field generating device for electromagnetic positioning and tracking.
Background
The electromagnetic positioning technology can realize high-precision positioning tracking in a large range, and has a large market application value in the fields of man-machine interaction, virtual reality, minimally invasive surgery and the like. The electromagnetic positioning and tracking technology is that a stable alternating magnetic field is generated through a magnetic field generating device, a magnetic field sensing device is located in an effective range from the magnetic field generating device, signal intensity is induced in real time based on the generated stable alternating magnetic field, and accurate position and gesture information relative to the magnetic field generating device is obtained based on the signal intensity and an alternating magnetic field model. Therefore, the stability of the alternating magnetic field generated by the magnetic field emission device directly determines the accuracy and stability of electromagnetic positioning and tracking.
A high-frequency magnetic field generating device and a magnetic field control method based on a multistage electromagnet are disclosed in chinese patent application publication No. CN112959311 a. The magnetic field generation device solves the problems that the magnetic field generated by the existing magnetic field generation device is uncontrollable and the size of a working space is not adjustable, can drive micro-actuators of various types, belongs to the technical field of electromagnetic drive, and is not suitable for electromagnetic positioning tracking.
In chinese patent application publication No. CN112967858A, a device for generating a rotating magnetic field using an energized rotating coil is disclosed. The controllable rotating magnetic field generating device actively controlling the motion of the capsule robot through magnetic field change belongs to the relevant technical field of electromagnetic drive and is not suitable for electromagnetic positioning tracking.
A static magnetic field generating device is disclosed in chinese patent application publication No. CN113009394 a. Which generates a uniform static magnetic field space by permanent magnet steel. The electromagnetic tracking system cannot be used in the field of electromagnetic positioning tracking due to the fact that the characteristics of the electromagnetic tracking system are different from those of an alternating electromagnetic field.
A high uniformity pulsed high intensity magnetic field emission device and method is disclosed in chinese patent application publication No. CN113325351 a. The device generates a main magnetic field through a main magnet coil, a shimming coil is connected with a shimming circuit to generate a compensation magnetic field to carry out accurate shimming compensation in a target area, so that the magnetic field uniformity is improved.
A device and a method for generating a swinging magnetic field with adjustable frequency and intensity are disclosed in chinese patent application publication No. CN 113630018A. The device is suitable for biological or cellular research, and generates a controllable swing magnetic field which is different from a stable sine alternating magnetic field required by electromagnetic positioning;
a magnetic field target positioning system and method is disclosed in chinese patent application publication No. CN114543645 a. It is briefly described that the system comprises a magnetic field generation control module, and for describing the specific implementation details of this module, the specific implementation of its magnetic field generating device is not known.
In summary, in the prior art disclosed in the patent, there is a few specific implementation ways of the alternating magnetic field generating device suitable for electromagnetic positioning tracking, and this application has been developed.
Disclosure of Invention
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings hereof.
The object of the present application is to overcome the above-mentioned drawbacks and to provide a three-dimensional magnetic field generating device and a magnetic field control method for electromagnetic positioning tracking. According to the alternating magnetic field control device, the magnetic shielding three-dimensional structure with the hollow structure is arranged, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, and the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure, so that alternating magnetic fields generated by the magnetic field control module and the magnetic field emission module are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module to control magnetic fields, the stability of the three-dimensional alternating magnetic fields generated by the three-dimensional magnetic field generation device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved.
In a first aspect, the present application provides a three-dimensional magnetic field generating device for electromagnetic positioning tracking, including a magnetic field control module, a magnetic field emission module, and a magnetic shielding module. The magnetic field control module is used for generating a driving signal for controlling the generation of a magnetic field; the magnetic field emission module responds to the driving signal generated by the magnetic field control module and then generates a magnetic field signal; the magnetic shielding module is used for isolating the magnetic field emission module from the magnetic field control module so as to prevent the magnetic field emission module from interfering the magnetic field control module. The magnetic shielding module comprises a magnetic shielding three-dimensional structure with a hollow structure, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, and the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure.
According to the alternating magnetic field control device, the magnetic shielding three-dimensional structure with the hollow structure is arranged, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, and the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure, so that alternating magnetic fields generated by the magnetic field control module and the magnetic field emission module are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module to control magnetic fields, the stability of the three-dimensional alternating magnetic fields generated by the three-dimensional magnetic field generation device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, so that the installation space of the magnetic field control module is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
In some embodiments, the magnetic field emission module comprises three emission coils orthogonally wound on the outer side wall of the magnetic shielding stereo structure. According to the three-dimensional alternating magnetic field generating device, the three transmitting coils which are orthogonally installed are arranged outside the magnetic shielding three-dimensional structure, so that the center points of the three transmitting coils are perpendicular to each other and coincide with one point, and then a three-dimensional alternating magnetic field is generated.
In some embodiments, the magnetic shielding stereoscopic structure is composed of magnetic shielding layers. According to the magnetic shielding three-dimensional structure with the hollow structure, the magnetic shielding three-dimensional structure is composed of the magnetic shielding layers and is used for isolating the alternating magnetic field generated by the magnetic field control module and the magnetic field emission module, so that the generated three-dimensional alternating magnetic field can be effectively prevented from interfering the control module, electromagnetic radiation of the control module affects the generated three-dimensional alternating magnetic field parameter radiation, and the stability of the magnetic field is improved.
In some embodiments, the magnetic shielding stereoscopic structure comprises a supporting frame body and a magnetic shielding layer, wherein the magnetic shielding layer is arranged on the inner side wall or the outer side wall of the supporting frame body. The utility model discloses a support body for support magnetic shielding layer, make magnetic shielding stereoscopic structure more stable, more durable. In addition, the support frame body can also be used for supplying the transmitting coil to twine to prevent that transmitting coil from twining outside the magnetic shielding layer and leading to magnetic shielding stereoscopic structure to launch deformation and influence the magnetic field stability of transmitting coil production.
In some embodiments, the magnetic shielding stereoscopic structure is a cube structure or a sphere structure. The three-dimensional magnetic shielding structure is arranged to be a cube structure or a sphere structure, and three transmitting coils wound outside the three-dimensional magnetic shielding structure can be in an orthogonal state to generate a three-dimensional alternating magnetic field.
In some embodiments, the drive signal is a digital signal or a PWM signal.
In some embodiments, the magnetic field control module includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, where the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field emission module, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module. According to the method, the control unit is used for producing the needed original driving signal through the control logic, the driving signal is converted into the sinusoidal analog driving signal through the signal generating unit, the sinusoidal analog driving signal is subjected to power amplification through the signal amplifying unit and then connected with the transmitting coil, the transmitting coil generates a current signal, the signal collecting unit is used for collecting the current signal of the transmitting coil in real time, the collected real-time current signal is fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil.
In some embodiments, the magnetic field control module includes a control unit, a signal generating unit, a full-bridge driving unit, a signal collecting unit, and a power supply unit, wherein the control unit is connected with the signal generating unit, the signal generating unit is connected with the magnetic field emission module through the full-bridge driving unit, the signal collecting unit is connected with the magnetic field emission module, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module. According to the method, the control unit is used for producing the required original driving signal through the control logic, the driving signal is connected with the transmitting coil after being driven by the full bridge, so that the transmitting coil generates a current signal, the signal acquisition unit acquires the current signal of the transmitting coil in real time, feeds the acquired current signal back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control of the driving current of the transmitting coil.
In some embodiments, the magnetic shielding stereoscopic structure is a detachable structure. This application is through setting up the three-dimensional structure of magnetic shielding into detachable structure, and the dismantlement and the installation of the three-dimensional structure of magnetic shielding of being convenient for also are convenient for repair and maintenance simultaneously.
In a second aspect, the present application provides a magnetic field control method of a three-dimensional magnetic field generating device for electromagnetic positioning tracking, implemented using the three-dimensional magnetic field generating device for electromagnetic positioning tracking described above, the method comprising:
setting a magnetic induction signal threshold value required by a magnetic field;
collecting a real-time value of a magnetic induction signal generated by a magnetic field;
calculating the difference value between the real-time value of the magnetic induction signal and the threshold value of the magnetic induction signal;
and adjusting the magnetic induction signal driving value through a closed-loop control algorithm according to the difference value, so as to adjust the magnetic induction signal real-time value, and realize closed-loop control of the magnetic field.
According to the method, the magnetic induction signals generated by the magnetic field are collected in real time, the magnetic induction signal difference value is obtained by comparing and calculating the magnetic induction signal threshold value of the magnetic field, the magnetic induction signal difference value is fed back to the control unit, the control unit forms a control quantity to adjust the magnetic induction signals of the magnetic field in real time based on the magnetic induction signal difference value through a closed-loop control algorithm, closed-loop control of the magnetic induction signals of the magnetic field is further achieved, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device is effectively improved, and therefore the electromagnetic positioning precision based on alternating electromagnetic is improved.
In some embodiments, the generation of the magnetic induction signal real-time value is specifically: the control unit generates the required original driving signal through the control logic, the driving signal is converted into a sinusoidal analog driving signal through the signal generating unit, and the sinusoidal driving signal is subjected to power amplification by the signal amplifying unit and then is connected with the transmitting coil, so that a magnetic induction signal real-time value is generated.
In some embodiments, the drive signal is a digital signal.
In some embodiments, the generation of the magnetic induction signal real-time value is specifically: the control unit generates the required raw drive signal via control logic, which is connected to the transmitting coil via a full bridge drive, thereby generating a magnetic induction signal real-time value.
In some embodiments, the drive signal is a PWM control signal.
Through adopting foretell technical scheme, the beneficial effect of this application is:
according to the alternating magnetic field control device, the magnetic shielding three-dimensional structure with the hollow structure is arranged, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, and the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure, so that alternating magnetic fields generated by the magnetic field control module and the magnetic field emission module are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module to control magnetic fields, the stability of the three-dimensional alternating magnetic fields generated by the three-dimensional magnetic field generation device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, so that the installation space of the magnetic field control module is greatly saved, no extra space is occupied, and the magnetic field control module is suitable for a scene with limited space, and the structure of the three-dimensional magnetic field generating device is more compact.
The utility model discloses a support body for support magnetic shielding layer, make magnetic shielding stereoscopic structure more stable, more durable. In addition, the support frame body can also be used for supplying the transmitting coil to twine to prevent that transmitting coil from twining outside the magnetic shielding layer and leading to magnetic shielding stereoscopic structure to launch deformation and influence the magnetic field stability of transmitting coil production.
The three-dimensional magnetic shielding structure is arranged to be a cube structure or a sphere structure, and three transmitting coils wound outside the three-dimensional magnetic shielding structure can be in an orthogonal state to generate a three-dimensional alternating magnetic field.
The method adopts the current closed-loop control of the transmitting coil, and can effectively improve the stability of the generated magnetic field, thereby improving the precision of the electromagnetic positioning and tracking system.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
It is apparent that such objects and other objects of the present application will become more apparent from the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings and figures.
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of the preferred embodiments, as illustrated in the accompanying drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the description serve to explain the embodiment of the application, and do not constitute a limitation of the application.
In the drawings, like parts are designated with like reference numerals and are illustrated schematically and are not necessarily drawn to scale.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only one or several embodiments of the present application, and other drawings can be obtained according to such drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a three-dimensional magnetic field generating device (without a support frame) for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 2 is a schematic diagram of a sphere structure (without a support frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 3 is a schematic view of a three-dimensional magnetic field generating device (with a support frame) for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 4 is a schematic diagram of a sphere structure (with a support frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 6 is a control block diagram (PWM signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application;
FIG. 7 is a diagram of a full bridge drive circuit in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application;
fig. 8 is a block diagram of closed loop control of a transmit coil current in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
Reference numerals:
1. a magnetic field control module;
2. a magnetic field emission module; 21. a transmitting coil;
3. a magnetic shielding three-dimensional structure; 31. a support frame body; 32. and a magnetic shielding layer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below in connection with the detailed description. It should be understood that the detailed description is presented merely to explain the application and is not intended to limit the application.
In addition, in the description of the present application, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," etc. indicate or refer to an azimuth or a positional relationship based on that shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and therefore should not be construed as limiting the present application.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. However, it is noted that direct connection indicates that the two bodies connected together do not form a connection relationship through a transition structure, but are connected together to form a whole through a connection structure. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1-2, fig. 1 is a schematic diagram of a cubic structure (without a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 2 is a schematic diagram of a sphere structure (without a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
According to some embodiments of the present application, there is provided a three-dimensional magnetic field generating device for electromagnetic positioning tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module 1, a magnetic field emission module 2 and a magnetic shielding module. Wherein the magnetic shielding module comprises a magnetic shielding stereoscopic structure 3 with a hollow structure. The magnetic field control module 1 is arranged inside the magnetic shielding stereo structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding stereo structure 3. The magnetic field control module 1 is used for generating a driving signal for controlling the generation of a magnetic field; the magnetic field emission module 2 responds to the driving signal generated by the magnetic field control module 1 to generate a magnetic field signal; the magnetic shielding module is used for isolating the magnetic field emission module 2 from the magnetic field control module 1 so as to prevent the magnetic field emission module 2 from interfering with the magnetic field control module 1.
According to the magnetic shielding three-dimensional structure 3 with the hollow structure, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding three-dimensional structure 3, so that alternating magnetic fields generated by the magnetic field control module 1 and the magnetic field emission module 2 are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module 1 to control the magnetic field, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, so that the installation space of the magnetic field control module 1 is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
According to some embodiments of the present application, the magnetic field emission module 2 optionally comprises three emission coils 21 orthogonally wound on the outer side wall of the magnetic shielding stereo structure 3. According to the three-dimensional alternating magnetic field generating device, the three transmitting coils 21 which are orthogonally installed are arranged outside the magnetic shielding three-dimensional structure 3, so that the three transmitting coils 21 are perpendicular to each other, the center points of the three transmitting coils 21 are coincident, and then a three-dimensional alternating magnetic field is generated.
According to some embodiments of the present application, the magnetic shielding stereoscopic structure 3 is optionally constituted by a magnetic shielding layer 32. The magnetic shielding three-dimensional structure 3 with the hollow structure is formed by the magnetic shielding layer 32 and is used for isolating the alternating magnetic field generated by the magnetic field control module 1 and the magnetic field emission module 2, so that the generated three-dimensional alternating magnetic field can be effectively prevented from interfering the control module, and the electromagnetic radiation of the control module affects the generated three-dimensional alternating magnetic field parameter radiation, so that the stability of the magnetic field is improved.
The magnetic shield layer 32 refers to a magnetic shield layer 32 made of a magnetic shield material.
Referring to fig. 3-4, fig. 3 is a schematic diagram of a cubic structure (with a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 4 is a schematic diagram of a sphere structure (with a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
According to some embodiments of the present application, optionally, the magnetic shielding stereo structure 3 includes a support frame 31, a magnetic shielding layer 32, and the magnetic shielding layer 32 is disposed on an inner side wall or an outer side wall of the support frame 31. This application is through having set up support body 31 for support magnetic shielding layer 32, make magnetic shielding stereoscopic structure 3 more stable, more durable. In addition, the supporting frame 31 may also be used for winding the transmitting coil 21, so as to prevent the transmitting coil 21 from winding outside the magnetic shielding layer 32 to cause the magnetic shielding stereo structure 3 to deform and influence the magnetic field stability of the production of the transmitting coil 21.
According to some embodiments of the present application, the magnetic shielding stereo structure 3 is optionally in a cubic structure or a sphere structure. The three-dimensional magnetic shielding structure 3 is arranged to be of a cubic structure or a sphere structure, and three transmitting coils 21 wound outside the three-dimensional magnetic shielding structure 3 can be guaranteed to be in an orthogonal state so as to generate a three-dimensional alternating magnetic field.
According to some embodiments of the present application, the driving signal is optionally a digital signal or a PWM signal.
Referring to fig. 5, fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
According to some embodiments of the present application, optionally, the magnetic field control module 1 includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, where the control unit is connected to the signal generating unit, the signal generating unit is connected to the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected to the magnetic field emission module 2, the signal collecting unit is connected to the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller for generating the required raw drive signals by means of control logic.
The signal generating unit is a D/a converter for converting the digital signal into a sinusoidal analog driving signal.
The signal amplifying unit is a power amplifier for power amplifying the sinusoidal analog driving signal.
The signal acquisition unit is an a/D converter for acquiring the current signal of the transmitting coil 21 in real time.
The power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The control unit is used for producing the required original driving signals through the control logic, the driving signals are converted into sinusoidal analog driving signals through the signal generation unit, the sinusoidal analog driving signals are subjected to power amplification through the signal amplification unit and then are connected with the transmitting coil 21, the transmitting coil 21 generates current signals, the signal acquisition unit is used for acquiring the current signals of the transmitting coil 21 in real time, the acquired real-time current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil 21.
Referring to fig. 6-7, fig. 6 is a control block diagram (PWM signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 7 is a diagram of a full-bridge driving circuit in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
According to some embodiments of the present application, optionally, the magnetic field control module 1 includes a control unit, a signal generating unit, a full-bridge driving unit, a signal collecting unit, and a power supply unit, where the control unit is connected to the signal generating unit, the signal generating unit is connected to the magnetic field emission module 2 through the full-bridge driving unit, the signal collecting unit is connected to the magnetic field emission module 2, the signal collecting unit is connected to the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller for generating the required raw drive signals by means of control logic.
The full-bridge driving unit is a full-bridge driving circuit for processing driving signals.
The signal acquisition unit is an a/D converter for acquiring the current signal of the transmitting coil 21 in real time.
The power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The control unit is used for producing required original driving signals through the control logic, the driving signals are connected with the transmitting coil 21 after being driven by the full bridge, the transmitting coil 21 generates current signals, the signal acquisition unit acquires the current signals of the transmitting coil 21 in real time, the acquired current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control of driving current of the transmitting coil 21.
According to some embodiments of the present application, the magnetic shielding stereo structure 3 is optionally a detachable structure. This application is through setting up magnetic shielding stereoscopic structure 3 into detachable structure, and the dismantlement and the installation of the stereoscopic structure 3 of magnetic shielding of being convenient for also be convenient for repair and maintenance simultaneously.
Alternatively, the magnetic shielding three-dimensional structure 3 comprises two hollow structures that can be combined into a cube, each hollow structure comprising three faces.
Alternatively, the magnetic shielding three-dimensional structure 3 comprises two hollow structures which can be combined into spheres, each hollow structure comprising a hemisphere.
Referring to fig. 8, fig. 8 is a block diagram illustrating closed loop control of a transmitting coil current in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
According to some embodiments of the present application, there is provided a magnetic field control method of a three-dimensional magnetic field generating device for electromagnetic positioning and tracking, implemented using the three-dimensional magnetic field generating device for electromagnetic positioning and tracking described above, the method comprising:
setting a magnetic induction signal threshold value required by a magnetic field;
collecting a real-time value of a magnetic induction signal generated by a magnetic field;
calculating the difference value between the real-time value of the magnetic induction signal and the threshold value of the magnetic induction signal;
and adjusting the magnetic induction signal driving value through a closed-loop control algorithm according to the difference value, so as to adjust the magnetic induction signal real-time value, and realize closed-loop control of the magnetic field.
According to the method, the magnetic induction signals generated by the magnetic field are collected in real time, the magnetic induction signal difference value is obtained by comparing and calculating the magnetic induction signal threshold value of the magnetic field, the magnetic induction signal difference value is fed back to the control unit, the control unit forms a control quantity to adjust the magnetic induction signals of the magnetic field in real time based on the magnetic induction signal difference value through a closed-loop control algorithm, closed-loop control of the magnetic induction signals of the magnetic field is further achieved, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device is effectively improved, and therefore the electromagnetic positioning precision based on alternating electromagnetic is improved.
Optionally, according to some embodiments of the present application, the generating of the magnetic induction signal real-time value is specifically: the control unit generates the required original driving signal through the control logic, the driving signal is converted into a sinusoidal analog driving signal through the signal generating unit, and the sinusoidal driving signal is subjected to power amplification by the signal amplifying unit and then is connected with the transmitting coil 21, so that a magnetic induction signal real-time value is generated.
According to some embodiments of the present application, optionally, the driving signal is a digital signal. The digital signal is converted into a sinusoidal analog driving signal by a D/a converter, and the sinusoidal analog driving signal is power amplified by a power amplifier and then connected to the transmitting coil 21.
Optionally, according to some embodiments of the present application, the generating of the magnetic induction signal real-time value is specifically: the control unit generates the required raw drive signal via control logic, which drive signal is connected to the transmit coil 21 via a full bridge drive, thereby generating a magnetic induction signal real time value.
According to some embodiments of the present application, the drive signal is optionally a PWM control signal with controllable frequency and duty cycle. The PWM control signal is connected to the transmitting coil 21 after full bridge driving.
Example 1
FIG. 1 is a schematic view of a three-dimensional magnetic field generating device (without a support frame) for electromagnetic positioning tracking according to some embodiments of the present application; fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a three-dimensional magnetic field generating device for electromagnetic positioning and tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module 1, a magnetic field emission module 2 and a magnetic shielding module.
The magnetic field control module 1 is used for generating a drive signal for controlling the generation of a magnetic field. Specifically, the magnetic field control module 1 includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, wherein the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field emission module 2, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller and is used for generating a required original driving signal through control logic; the signal generating unit is a D/A converter for converting the digital signal into a sinusoidal analog driving signal; the signal amplifying unit is a power amplifier and is used for amplifying power of the sinusoidal analog driving signal; the signal acquisition unit is an A/D converter and is used for acquiring current signals of the transmitting coil 21 in real time; the power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The magnetic field emission module 2 generates a magnetic field signal in response to the driving signal generated by the magnetic field control module 1. Specifically, the magnetic field emission module 2 includes three emission coils 21 orthogonally wound on the outer side wall of the magnetic shielding three-dimensional structure 3, the three emission coils 21 are perpendicular to each other, and the center points of the three emission coils 21 are coincident to one point, so as to generate a three-dimensional alternating magnetic field.
The magnetic shielding module is used for isolating the magnetic field emission module 2 from the magnetic field control module 1 so as to prevent the magnetic field emission module 2 from interfering with the magnetic field control module 1. Specifically, the magnetic shielding module includes a magnetic shielding three-dimensional structure 3 having a hollow structure in a cube structure; the magnetic shielding three-dimensional structure 3 comprises two hollow structures which can be combined into a cube, and each hollow structure comprises three faces; the magnetic shield stereoscopic structure 3 is constituted by a magnetic shield layer 32.
The magnetic field control module 1 is arranged inside the magnetic shielding stereo structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding stereo structure 3.
According to the magnetic shielding three-dimensional structure 3 with the hollow structure, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding three-dimensional structure 3, so that alternating magnetic fields generated by the magnetic field control module 1 and the magnetic field emission module 2 are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module 1 to control the magnetic field, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, so that the installation space of the magnetic field control module 1 is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
The control unit is used for producing the required original driving signals through the control logic, the driving signals are converted into sinusoidal analog driving signals through the signal generation unit, the sinusoidal analog driving signals are subjected to power amplification through the signal amplification unit and then are connected with the transmitting coil 21, the transmitting coil 21 generates current signals, the signal acquisition unit is used for acquiring the current signals of the transmitting coil 21 in real time, the acquired real-time current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil 21.
Example 2
Referring to fig. 2 and 5, fig. 2 is a schematic diagram of a sphere structure (without a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to some embodiments of the present application; fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a three-dimensional magnetic field generating device for electromagnetic positioning and tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module 1, a magnetic field emission module 2 and a magnetic shielding module.
The magnetic field control module 1 is used for generating a drive signal for controlling the generation of a magnetic field. Specifically, the magnetic field control module 1 includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, wherein the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field emission module 2, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller and is used for generating a required original driving signal through control logic; the signal generating unit is a D/A converter for converting the digital signal into a sinusoidal analog driving signal; the signal amplifying unit is a power amplifier and is used for amplifying power of the sinusoidal analog driving signal; the signal acquisition unit is an A/D converter and is used for acquiring current signals of the transmitting coil 21 in real time; the power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The magnetic field emission module 2 generates a magnetic field signal in response to the driving signal generated by the magnetic field control module 1. Specifically, the magnetic field emission module 2 includes three emission coils 21 orthogonally wound on the outer side wall of the magnetic shielding three-dimensional structure 3, the three emission coils 21 are perpendicular to each other, and the center points of the three emission coils 21 are coincident to one point, so as to generate a three-dimensional alternating magnetic field.
The magnetic shielding module is used for isolating the magnetic field emission module 2 from the magnetic field control module 1 so as to prevent the magnetic field emission module 2 from interfering with the magnetic field control module 1. Specifically, the magnetic shielding module comprises a magnetic shielding three-dimensional structure 3 with a hollow structure and a sphere structure; the magnetic shielding three-dimensional structure 3 comprises two hollow structures which can be combined into a sphere, and each hollow structure comprises a hemispherical surface; the magnetic shield stereoscopic structure 3 is constituted by a magnetic shield layer 32.
The magnetic field control module 1 is arranged inside the magnetic shielding stereo structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding stereo structure 3.
According to the magnetic shielding three-dimensional structure 3 with the hollow structure, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding three-dimensional structure 3, so that alternating magnetic fields generated by the magnetic field control module 1 and the magnetic field emission module 2 are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module 1 to control the magnetic field, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, so that the installation space of the magnetic field control module 1 is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
The control unit is used for producing the required original driving signals through the control logic, the driving signals are converted into sinusoidal analog driving signals through the signal generation unit, the sinusoidal analog driving signals are subjected to power amplification through the signal amplification unit and then are connected with the transmitting coil 21, the transmitting coil 21 generates current signals, the signal acquisition unit is used for acquiring the current signals of the transmitting coil 21 in real time, the acquired real-time current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil 21.
Example 3
Referring to fig. 3 and 5, fig. 3 is a schematic view of a cubic structure (with a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to some embodiments of the present application; fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a three-dimensional magnetic field generating device for electromagnetic positioning and tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module 1, a magnetic field emission module 2 and a magnetic shielding module.
The magnetic field control module 1 is used for generating a drive signal for controlling the generation of a magnetic field. Specifically, the magnetic field control module 1 includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, wherein the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field emission module 2, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller and is used for generating a required original driving signal through control logic; the signal generating unit is a D/A converter for converting the digital signal into a sinusoidal analog driving signal; the signal amplifying unit is a power amplifier and is used for amplifying power of the sinusoidal analog driving signal; the signal acquisition unit is an A/D converter and is used for acquiring current signals of the transmitting coil 21 in real time; the power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The magnetic field emission module 2 generates a magnetic field signal in response to the driving signal generated by the magnetic field control module 1. Specifically, the magnetic field emission module 2 includes three emission coils 21 orthogonally wound on the outer side wall of the magnetic shielding three-dimensional structure 3, the three emission coils 21 are perpendicular to each other, and the center points of the three emission coils 21 are coincident to one point, so as to generate a three-dimensional alternating magnetic field.
The magnetic shielding module is used for isolating the magnetic field emission module 2 from the magnetic field control module 1 so as to prevent the magnetic field emission module 2 from interfering with the magnetic field control module 1. Specifically, the magnetic shielding module includes a magnetic shielding three-dimensional structure 3 having a hollow structure in a cube structure; the magnetic shielding three-dimensional structure 3 comprises two hollow structures which can be combined into a cube, and each hollow structure comprises three faces; the magnetic shielding stereoscopic structure 3 comprises a supporting frame 31 and a magnetic shielding layer 32, wherein the magnetic shielding layer 32 is arranged on the inner side wall or the outer side wall of the supporting frame 31.
The magnetic field control module 1 is arranged inside the magnetic shielding stereo structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding stereo structure 3.
According to the magnetic shielding three-dimensional structure 3 with the hollow structure, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding three-dimensional structure 3, so that alternating magnetic fields generated by the magnetic field control module 1 and the magnetic field emission module 2 are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module 1 to control the magnetic field, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, so that the installation space of the magnetic field control module 1 is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
The control unit is used for producing the required original driving signals through the control logic, the driving signals are converted into sinusoidal analog driving signals through the signal generation unit, the sinusoidal analog driving signals are subjected to power amplification through the signal amplification unit and then are connected with the transmitting coil 21, the transmitting coil 21 generates current signals, the signal acquisition unit is used for acquiring the current signals of the transmitting coil 21 in real time, the acquired real-time current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil 21.
Example 4
Referring to fig. 4-5, fig. 4 is a schematic diagram of a sphere structure (with a supporting frame) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a three-dimensional magnetic field generating device for electromagnetic positioning and tracking. The three-dimensional magnetic field generating device comprises a magnetic field control module 1, a magnetic field emission module 2 and a magnetic shielding module.
The magnetic field control module 1 is used for generating a drive signal for controlling the generation of a magnetic field. Specifically, the magnetic field control module 1 includes a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit, and a power supply unit, wherein the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field emission module 2, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module 1.
The control unit is a controller and is used for generating a required original driving signal through control logic; the signal generating unit is a D/A converter for converting the digital signal into a sinusoidal analog driving signal; the signal amplifying unit is a power amplifier and is used for amplifying power of the sinusoidal analog driving signal; the signal acquisition unit is an A/D converter and is used for acquiring current signals of the transmitting coil 21 in real time; the power supply unit is a power supply which provides electric energy for the magnetic field control module 1.
The magnetic field emission module 2 generates a magnetic field signal in response to the driving signal generated by the magnetic field control module 1. Specifically, the magnetic field emission module 2 includes three emission coils 21 orthogonally wound on the outer side wall of the magnetic shielding three-dimensional structure 3, the three emission coils 21 are perpendicular to each other, and the center points of the three emission coils 21 are coincident to one point, so as to generate a three-dimensional alternating magnetic field.
The magnetic shielding module is used for isolating the magnetic field emission module 2 from the magnetic field control module 1 so as to prevent the magnetic field emission module 2 from interfering with the magnetic field control module 1. Specifically, the magnetic shielding module comprises a magnetic shielding three-dimensional structure 3 with a hollow structure and a sphere structure; the magnetic shielding three-dimensional structure 3 comprises two hollow structures which can be combined into a sphere, and each hollow structure comprises a hemispherical surface; the magnetic shielding stereoscopic structure 3 comprises a supporting frame 31 and a magnetic shielding layer 32, wherein the magnetic shielding layer 32 is arranged on the inner side wall or the outer side wall of the supporting frame 31.
The magnetic field control module 1 is arranged inside the magnetic shielding stereo structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding stereo structure 3.
According to the magnetic shielding three-dimensional structure 3 with the hollow structure, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, and the magnetic field emission module 2 is arranged outside the magnetic shielding three-dimensional structure 3, so that alternating magnetic fields generated by the magnetic field control module 1 and the magnetic field emission module 2 are isolated, the generated three-dimensional alternating magnetic fields can be effectively prevented from interfering the magnetic field control module 1 to control the magnetic field, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device can be effectively improved, and the electromagnetic positioning precision based on alternating electromagnetic waves is improved. In addition, the magnetic field control module 1 is arranged in the magnetic shielding three-dimensional structure 3, so that the installation space of the magnetic field control module 1 is greatly saved, and the structure of the three-dimensional magnetic field generating device is more compact.
The control unit is used for producing the required original driving signals through the control logic, the driving signals are converted into sinusoidal analog driving signals through the signal generation unit, the sinusoidal analog driving signals are subjected to power amplification through the signal amplification unit and then are connected with the transmitting coil 21, the transmitting coil 21 generates current signals, the signal acquisition unit is used for acquiring the current signals of the transmitting coil 21 in real time, the acquired real-time current signals are fed back to the control unit, and finally the control logic of the control unit is used for realizing closed-loop control on the driving current of the transmitting coil 21.
Example 5
Referring to fig. 5 and 8, fig. 5 is a control block diagram (digital signal) of a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 8 is a block diagram of closed loop control of a transmit coil current in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a magnetic field control method of a three-dimensional magnetic field generating device for electromagnetic positioning and tracking.
When the driving signal is a digital signal, the digital signal is converted into a sinusoidal analog driving signal by the D/a converter, and the sinusoidal analog driving signal is amplified by the power amplifier and then connected to the transmitting coil 21. Therefore, the magnetic field idling method is specifically as follows:
setting a magnetic induction signal threshold value required by a magnetic field;
collecting a real-time value of a magnetic induction signal generated by a magnetic field;
calculating the difference value between the real-time value of the magnetic induction signal and the threshold value of the magnetic induction signal;
and adjusting the magnetic induction signal driving value through a closed-loop control algorithm according to the difference value, so as to adjust the magnetic induction signal real-time value, and realize closed-loop control of the magnetic field.
The generation of the magnetic induction signal real-time value specifically comprises the following steps: the control unit generates the required original driving signal through the control logic, the driving signal is converted into a sinusoidal analog driving signal through the signal generating unit, and the sinusoidal driving signal is subjected to power amplification by the signal amplifying unit and then is connected with the transmitting coil 21, so that a magnetic induction signal real-time value is generated.
According to the method, the magnetic induction signals generated by the magnetic field are collected in real time, the magnetic induction signal difference value is obtained by comparing and calculating the magnetic induction signal threshold value of the magnetic field, the magnetic induction signal difference value is fed back to the control unit, the control unit forms a control quantity to adjust the magnetic induction signals of the magnetic field in real time based on the magnetic induction signal difference value through a closed-loop control algorithm, closed-loop control of the magnetic induction signals of the magnetic field is further achieved, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device is effectively improved, and therefore the electromagnetic positioning precision based on alternating electromagnetic is improved.
Example 6
Referring to fig. 6-8, fig. 6 is a control block diagram (PWM signal) of a three-dimensional magnetic field generating apparatus for electromagnetic positioning tracking according to some embodiments of the present application; FIG. 7 is a diagram of a full bridge drive circuit in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application; fig. 8 is a block diagram of closed loop control of a transmit coil current in a three-dimensional magnetic field generating device for electromagnetic positioning tracking according to some embodiments of the present application.
The embodiment provides a magnetic field control method of a three-dimensional magnetic field generating device for electromagnetic positioning and tracking.
When the driving signal is a PWM control signal with controllable frequency and duty ratio, the PWM control signal needs to be connected to the transmitting coil 21 after being driven by the full bridge, so the magnetic field control method specifically includes the following steps:
setting a magnetic induction signal threshold value required by a magnetic field;
collecting a real-time value of a magnetic induction signal generated by a magnetic field;
calculating the difference value between the real-time value of the magnetic induction signal and the threshold value of the magnetic induction signal;
and adjusting the magnetic induction signal driving value through a closed-loop control algorithm according to the difference value, so as to adjust the magnetic induction signal real-time value, and realize closed-loop control of the magnetic field.
The generation of the magnetic induction signal real-time value specifically comprises the following steps: the control unit generates the required raw drive signal via control logic, which drive signal is connected to the transmit coil 21 via a full bridge drive, thereby generating a magnetic induction signal real time value.
According to the method, the magnetic induction signals generated by the magnetic field are collected in real time, the magnetic induction signal difference value is obtained by comparing and calculating the magnetic induction signal threshold value of the magnetic field, the magnetic induction signal difference value is fed back to the control unit, the control unit forms a control quantity to adjust the magnetic induction signals of the magnetic field in real time based on the magnetic induction signal difference value through a closed-loop control algorithm, closed-loop control of the magnetic induction signals of the magnetic field is further achieved, the stability of the three-dimensional alternating magnetic field generated by the three-dimensional magnetic field generating device is effectively improved, and therefore the electromagnetic positioning precision based on alternating electromagnetic is improved.
It should be noted that in the foregoing description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than as described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
Claims (9)
1. A three-dimensional magnetic field generating device for electromagnetic positioning tracking, comprising:
a magnetic field control module for generating a driving signal for controlling the generation of a magnetic field;
a magnetic field emission module for generating a magnetic field signal in response to the driving signal generated by the magnetic field control module;
the magnetic shielding module is used for isolating the magnetic field emission module from the magnetic field control module so as to prevent the magnetic field emission module from interfering the magnetic field control module;
the magnetic shielding module comprises a magnetic shielding three-dimensional structure with a hollow structure, the magnetic field control module is arranged in the magnetic shielding three-dimensional structure, and the magnetic field emission module is arranged outside the magnetic shielding three-dimensional structure.
2. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic field transmitting module comprises three transmitting coils perpendicularly wound on the outer side wall of the magnetic shielding three-dimensional structure.
3. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic shield three-dimensional structure is constituted by a magnetic shield layer.
4. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic shielding stereoscopic structure comprises a supporting frame body and a magnetic shielding layer, and the magnetic shielding layer is arranged on the inner side wall or the outer side wall of the supporting frame body.
5. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic shielding three-dimensional structure is a cubic structure or a spherical structure.
6. The three-dimensional magnetic field generating device for electromagnetic positioning tracking according to claim 1, wherein the driving signal is a digital signal or a PWM signal.
7. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic field control module comprises a control unit, a signal generating unit, a signal amplifying unit, a signal collecting unit and a power supply unit, the control unit is connected with the signal generating unit, the signal generating unit is connected with the signal amplifying unit, the signal amplifying unit and the signal collecting unit are both connected with the magnetic field transmitting module, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module.
8. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic field control module comprises a control unit, a signal generating unit, a full-bridge driving unit, a signal collecting unit and a power supply unit, the control unit is connected with the signal generating unit, the signal generating unit is connected with the magnetic field transmitting module through the full-bridge driving unit, the signal collecting unit is connected with the magnetic field transmitting module, the signal collecting unit is connected with the control unit, and the power supply unit provides electric energy for the magnetic field control module.
9. The three-dimensional magnetic field generating device for electromagnetic positioning and tracking according to claim 1, wherein the magnetic shielding three-dimensional structure is a detachable structure.
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