CN118294729A - A method for visual detection of industrial frequency magnetic field based on robotic arm scanning - Google Patents
A method for visual detection of industrial frequency magnetic field based on robotic arm scanning Download PDFInfo
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Abstract
本发明涉及一种基于机械臂扫描的工频磁场可视化探测方法，解决的是不能实现多点协同空间感知以及不能解决多种场景的空间适应性的技术问题，通过采用选择特定类型的磁场探头，将其安装在机械臂上，并放置于待测区域内，以获取用于工频磁场可视化输入的工频磁场实际测量数据。通过收集待测区域的拓扑结构和电气设备参数，建立考虑电流、电压、导体几何形状等因素的场景自适应磁场模型，开展工频磁场分布计算，结合模型计算结果与实际探测数据，经过数据融合和校准，绘制工频磁场的三维图像，实现磁场的直观可视化呈现的技术方案，较好的解决了该问题，可用于电力、电子、医学、工程设计等领域。
The present invention relates to a method for visual detection of power-frequency magnetic field based on mechanical arm scanning, which solves the technical problems of being unable to realize multi-point collaborative spatial perception and unable to solve the spatial adaptability of multiple scenes. By selecting a specific type of magnetic field probe, installing it on a mechanical arm, and placing it in the area to be measured, the actual measurement data of the power-frequency magnetic field for visual input of the power-frequency magnetic field is obtained. By collecting the topological structure and electrical equipment parameters of the area to be measured, a scene-adaptive magnetic field model considering factors such as current, voltage, and conductor geometry is established, and the power-frequency magnetic field distribution calculation is carried out. The model calculation results are combined with the actual detection data, and after data fusion and calibration, a three-dimensional image of the power-frequency magnetic field is drawn to realize the technical solution of intuitive visualization presentation of the magnetic field, which solves the problem well and can be used in the fields of electricity, electronics, medicine, engineering design, etc.
Description
Technical Field
The invention relates to the field of electrical measurement, in particular to a power frequency magnetic field visual detection method based on mechanical arm scanning.
Background
Electromagnetic information sensing and application thereof have been one of the key and difficult points of research for a long time in the electric power field. Through years of science popularization propaganda, masses gradually have clearer cognition and acceptance on electromagnetic environment influence of electric power facilities. Under the condition, various contradictions are gradually relieved, and the power enterprises start to change the attitude of the power frequency electromagnetic environment by adopting the past strict prevention and control. Electromagnetic environment information has been passively supported from previous complaints interview, gradually evolved into roles that actively assist electrical facilities in achieving state awareness and health assessment.
Meanwhile, a review of modern intelligent sensing technologies shows that a great deal of research has been focused on sensing the state of power equipment by using various technical means such as infrared waves, ultraviolet waves, sound waves, ultrasonic waves and the like. The method assists equipment to perform defect early warning, positioning and other works under different operation characteristics. However, despite some progress, magnetic field data is not yet fully perceived as the most critical and immediate information in electrical facilities. The acquired data information remains at the level of a single point or multiple points in space, and the presentation technique is limited to a single digital (string) form. There is a clear gap in the perceptibility of magnetic field data compared to other band perceptibility.
At present, the visual research of a power frequency magnetic field is in a primary stage, and the technical problems that the multi-point collaborative space sensing cannot be realized and the space adaptability of various scenes cannot be solved due to the fact that the power frequency magnetic field probe capable of supporting single-point or multiple single-point measurement and a basic analysis model are relied on exist.
Disclosure of Invention
The invention aims to solve the technical problems that the multi-point collaborative space sensing cannot be realized and the space adaptability of various scenes cannot be solved in the prior art. The novel industrial frequency magnetic field visual detection method based on the mechanical arm scanning has the characteristics of realizing multi-point collaborative spatial perception and solving the spatial adaptability of various scenes.
In order to solve the technical problems, the technical scheme adopted is as follows:
a power frequency magnetic field visual detection method based on mechanical arm scanning comprises the following steps:
selecting a magnetic field probe to be mounted on a mechanical arm according to the characteristics of a region to be detected, predefining a motion path of the mechanical arm, and scanning each position in the region to be detected by the mechanical arm and the magnetic field probe; the control mechanical arm drives the magnetic field probe to complete the scanning of the magnetic field parameters of each position of the region to be detected;
step two, collecting topological structure parameters and electrical equipment parameters, and constructing a scene self-adaptive magnetic field, wherein a scene self-adaptive magnetic field model comprises model elements including equipment positions, connection modes and wire arrangement; distributing defined current and voltage values for each device of the self-adaptive magnetic field model package, and completing verification of the scene self-adaptive magnetic field through parameter estimation;
Acquiring magnetic field data of a region to be measured in real time, and fusing the magnetic field distribution data obtained by calculation in the scene self-adaptive magnetic field model with the magnetic field data measured by the magnetic field probe in real time to perform data fusion and data calibration so as to finish the precision optimization of the power frequency magnetic field distribution information;
And fourthly, constructing a three-dimensional scene model containing the positions of the electrical equipment and the electrical equipment by using the power frequency magnetic field distribution information with optimized precision, wherein the three-dimensional scene model comprises the steps of correlating the power frequency magnetic field data with the scene model, drawing a three-dimensional image showing a magnetic field according to the distribution of the power frequency magnetic field data in the scene model, and finishing the visual graph drawing.
The working principle of the invention is as follows: the invention combines the magnetic field detection device with the mechanical arm, and realizes the three-dimensional scanning detection of the magnetic field in the target area by installing the detection device on the mechanical arm. Compared with the traditional static detection method, the mechanical arm scanning technology can realize more comprehensive and finer magnetic field data acquisition and provide richer information for visualization. The scene self-adaptive magnetic field model is constructed by acquiring topological structures and parameters of electrical equipment and combining the position and parameter information of the electrical equipment. The power frequency magnetic field distribution can be calculated according to key parameters such as current, voltage, geometric shape of a conductor and the like by using a numerical calculation method (such as a finite element method) or an analytic calculation method and the like. The distribution situation of the power frequency magnetic field in different scenes can be accurately described. According to the invention, the magnetic field distribution data calculated by the scene self-adaptive magnetic field model is combined with actual data measured by the sensor, and data fusion and calibration operation are performed, so that a power frequency magnetic field distribution result with higher accuracy is achieved. According to the invention, a three-dimensional scene model is firstly established according to the obtained data, wherein the model comprises the geometric shape of the electrical equipment and the relative position information of the electrical equipment. And then connecting the actually collected power frequency magnetic field data with a scene model to ensure that the magnetic field data can accurately correspond to the corresponding position. And finally, by carrying out proper optimization processing on the data, drawing a three-dimensional image reflecting the magnetic field distribution according to the distribution of the data in the scene. The visualization process enables the power frequency magnetic field information to be visually presented, and through combination with a scene model, an observer can more clearly understand the spatial distribution condition of the magnetic field.
To optimize the above solution, in a first step, the calibrating the magnetic field probe includes:
Step 1, defining a magnetic field probe distortion calibration model:
;
;
;
Wherein, Is a coordinate value of a predefined ideal magnetic field map point,Is the coordinates of the corresponding distorted magnetic field pattern point,Is a distortion center coordinate, and k is a distortion calibration coefficient of the magnetic field probe;
step 2, presetting n parallel lines which are parallel to each other, and defining a linear equation on an ideal magnetic field diagram as:
；
Wherein, AndThe method meets the following conditions: rank function Rank)=2；
Step 3, collecting an ith curve on the distorted magnetic field diagram, and selecting m mark points on the curve; the j (j.ltoreq.m) th point coordinate value is defined as; Calculating coordinate values on an ideal imaging plane corresponding to the j-th point coordinate according to the distortion calibration model in the step 1；
Calculating a fitting function of the ith curve through a fitting algorithm:
；
Wherein, ，；Is thatIs used to determine the transposed matrix of (a),Is thatIs a transposed matrix of (a);
and (3) bringing the fitting function into a linear equation on the ideal image in the step (1), and solving the distortion parameter k simultaneously.
The invention predicts and corrects the distortion pattern of the magnetic field probe, and the complete magnetic field probe is calibrated, thereby improving the scanning precision.
Further, in the second step:
Collecting topological structures of the electrical equipment, wherein the topological structures comprise positions, connection modes and circuit arrangement parameters of the electrical equipment, and currents, voltages and frequencies;
Constructing a scene self-adaptive magnetic field, wherein each electric device is defined as a source or a load in the magnetic field, and the magnetic field effect generated by the electric device is calculated according to electric device parameters; then constructing a scene self-adaptive magnetic field according to the topological structure information of the electrical equipment;
Further, it is characterized in that:
the data fusion and data calibration in the third step comprises the following steps:
the data fusion comprises the following steps:
Interpolation of data: matching the calculated magnetic field distribution data with the magnetic field data measured by the magnetic field probe in real time by using an interpolation method, and filling gaps among the data;
data fusion, namely fusing calculated data and measured data by adopting a data fusion algorithm to realize data fusion optimization;
The data calibration includes: zero calibration, gain calibration, nonlinear calibration.
Further, in the fourth step, the visual graphics drawing further includes: optimizing the image readability by adjusting visualization parameters such as color mapping, transparency, viewing angle, etc.;
An interactive visual environment is created that allows a user to navigate and explore magnetic field data randomly in a three-dimensional scene.
Further, the magnetic field probe is a low-frequency magnetic field probe, can effectively measure a magnetic field in a frequency range from 1Hz to 4000Hz, and has a field strength measuring range from 1nT to 10mT.
Further, the mechanical arm is a short-time rapid scanning mechanical arm.
The invention has the beneficial effects that: the three-dimensional visualization technology of the power frequency magnetic field can provide visual and vivid magnetic field information data for a plurality of fields, and has wide application prospect and popularization value. Has important application potential in the fields of electric power, electronics, medicine, engineering design and the like. In the power industry, the system supports the tasks of equipment state judgment and early warning, electromagnetic environment evaluation and management, operation, maintenance and guarantee of a power sensor and the like. In the aspects of earth science and environmental protection, the method assists in geological exploration, mineral resource detection and environmental monitoring, and improves resource development efficiency and environmental protection level. In addition, the method is also applied to the virtual reality, augmented reality and entertainment industries, provides an immersive visual experience for users, and contributes to popularization of power grid science popularization and scientific knowledge.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a flow chart of the method described in example 1;
FIG. 2 is a schematic illustration of a robotic arm used in example 1;
FIG. 3 is a diagram of a visual system architecture for the robotic arm scanning probe technique of example 1;
FIG. 4 is a schematic diagram of an exemplary method of three-dimensional data field visualization.
Description of the embodiments
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Examples
The embodiment provides a power frequency magnetic field visual detection method based on mechanical arm scanning, which comprises the following steps:
selecting a magnetic field probe to be mounted on a mechanical arm according to the characteristics of a region to be detected, predefining a motion path of the mechanical arm, and scanning each position in the region to be detected by the mechanical arm and the magnetic field probe; the control mechanical arm drives the magnetic field probe to complete the scanning of the magnetic field parameters of each position of the region to be detected;
step two, collecting topological structure parameters and electrical equipment parameters, and constructing a scene self-adaptive magnetic field, wherein a scene self-adaptive magnetic field model comprises model elements including equipment positions, connection modes and wire arrangement; distributing defined current and voltage values for each device of the self-adaptive magnetic field model package, and completing verification of the scene self-adaptive magnetic field through parameter estimation;
Acquiring magnetic field data of a region to be measured in real time, and fusing the magnetic field distribution data obtained by calculation in the scene self-adaptive magnetic field model with the magnetic field data measured by the magnetic field probe in real time to perform data fusion and data calibration so as to finish the precision optimization of the power frequency magnetic field distribution information;
And fourthly, constructing a three-dimensional scene model containing the positions of the electrical equipment and the electrical equipment by using the power frequency magnetic field distribution information with optimized precision, wherein the three-dimensional scene model comprises the steps of correlating the power frequency magnetic field data with the scene model, drawing a three-dimensional image showing a magnetic field according to the distribution of the power frequency magnetic field data in the scene model, and finishing the visual graph drawing.
Specifically, in the first step, the calibration of the magnetic field probe includes:
Step 1, defining a magnetic field probe distortion calibration model:
;
;
;
Wherein, Is a coordinate value of a predefined ideal magnetic field map point,Is the coordinates of the corresponding distorted magnetic field pattern point,Is a distortion center coordinate, and k is a distortion calibration coefficient of the magnetic field probe;
step 2, presetting n parallel lines which are parallel to each other, and defining a linear equation on an ideal magnetic field diagram as:
；
Wherein, AndThe method meets the following conditions: rank function Rank)=2；
Step 3, collecting an ith curve on the distorted magnetic field diagram, and selecting m mark points on the curve; the j (j.ltoreq.m) th point coordinate value is defined as; Calculating coordinate values on an ideal imaging plane corresponding to the j-th point coordinate according to the distortion calibration model in the step 1；
Calculating a fitting function of the ith curve through a fitting algorithm:
；
Wherein, ，；Is thatIs used to determine the transposed matrix of (a),Is thatIs a transposed matrix of (a);
and (3) bringing the fitting function into a linear equation on the ideal image in the step (1), and solving the distortion parameter k simultaneously.
By predicting and correcting the distortion pattern of the magnetic field probe, the complete magnetic field probe is calibrated, and the scanning precision is improved.
Specifically, in the second step:
Collecting topological structures of the electrical equipment, wherein the topological structures comprise positions, connection modes and circuit arrangement parameters of the electrical equipment, and currents, voltages and frequencies;
Constructing a scene self-adaptive magnetic field, wherein each electric device is defined as a source or a load in the magnetic field, and the magnetic field effect generated by the electric device is calculated according to electric device parameters; then constructing a scene self-adaptive magnetic field according to the topological structure information of the electrical equipment;
Specifically, it is characterized in that:
the data fusion and data calibration in the third step comprises the following steps:
the data fusion comprises the following steps:
Interpolation of data: matching the calculated magnetic field distribution data with the magnetic field data measured by the magnetic field probe in real time by using an interpolation method, and filling gaps among the data;
data fusion, namely fusing calculated data and measured data by adopting a data fusion algorithm to realize data fusion optimization;
The data calibration includes: zero calibration, gain calibration, nonlinear calibration.
Specifically, in the fourth step, the visual graphics drawing further includes: optimizing the image readability by adjusting visualization parameters such as color mapping, transparency, viewing angle, etc.;
An interactive visual environment is created that allows a user to navigate and explore magnetic field data randomly in a three-dimensional scene.
Specifically, the magnetic field probe is a low-frequency magnetic field probe, can effectively measure a magnetic field in a frequency range from 1Hz to 4000Hz, and has a field strength measuring range from 1nT to 10mT.
Specifically, the mechanical arm is a short-time rapid scanning mechanical arm.
Specifically, the flow in this embodiment is shown in fig. 1, and includes steps of selecting a magnetic field probe, presetting a path and parameters of a mechanical arm, establishing a scene self-adaptive magnetic field model, fusing and calibrating magnetic field calculation data and probe actual measurement data, realizing power frequency magnetic field visualization, and the like. The specific implementation method comprises the following steps:
(1) For the characteristics of different shapes and sizes in a target area, from the aspects of realizing multi-dimensional and multi-path scanning planning and the like, a proper magnetic field probe is selected, wherein the common magnetic field probe comprises a Hall sensor, an inductive coupling sensor and the like, and the selected probe can meet the research requirement. According to the aim and the needs of the research, a proper mechanical arm system is selected, the mechanical arm system has enough freedom degree and flexibility, the position and the posture of the sensor can be controlled, and the mechanical arm is schematically shown in fig. 2.
And designing a path and parameters of the mechanical arm, performing automatic scanning movement, and enabling the sensor to cover a target area and collect data by controlling the movement track and the gesture of the mechanical arm. Typically, scan paths, such as grid scans or path planning, may be designed to ensure complete coverage of the entire area. Meanwhile, the collected magnetic field data is processed to remove noise and correct the data. The construction of the visualization system based on the mechanical arm scanning detection technology is shown in fig. 3.
(2) And constructing a magnetic field model adapting to the actual scene by collecting the topological structure of the target area and the parameters of the electrical equipment. The distribution condition of the power frequency magnetic field is accurately calculated based on key parameters such as current, voltage, conductor geometric shape and the like by utilizing the existing methods such as a numerical calculation method (such as a finite element method) or an analytic calculation method and the like. An accurate magnetic field model is built, the development of a follow-up power frequency magnetic field visualization application module is supported, and a data base is provided for visual display of magnetic field distribution.
(2.1) Topology and device parameter acquisition: in order to obtain accurate information of electrical equipment in a scene, firstly, the topological structure of the electrical equipment needs to be collected, and the topological structure comprises the elements such as positions, connection modes, circuit arrangement and the like. This can be done by retrieving CAD drawings, building plans, and other related documents, or by measuring device position using a laser rangefinder or GPS device. In addition, detailed parameters of each electrical device, such as current, voltage, frequency, etc., need to be obtained. This may be accomplished by retrieving specifications of the information store, equipment tags, or electrical engineering documents. Through the comprehensive data acquisition process, basic data are provided for creating an accurate magnetic field model, so that vivid representation of power frequency magnetic field distribution is possible.
(2.2) Modeling of magnetic field: based on the collected data and the targets of the study, an appropriate magnetic field modeling method is selected. Generally, methods such as finite element analysis, a boundary element method, a finite difference method and the like can be adopted, and the method can be flexibly selected according to different conditions. In modeling, each electrical device is regarded as a source or a load in a magnetic field, parameters (such as current and voltage) of the device are combined with a selected method, and magnetic field effects generated by the device are calculated. Meanwhile, the collected topological structure information is used for constructing a magnetic field model of the whole scene, and the magnetic field model comprises the elements of equipment positions, connection modes, wire arrangement and the like. The accuracy of the magnetic field model is ensured, and powerful support is provided for visual display of magnetic field distribution.
(2.3) Model parameter setting and verification: the corresponding current and voltage values are distributed to each device in the model by utilizing the parameters of the electrical devices, and can be realized through nodes and branches of the model. This process may employ topology analysis methods or parameter estimation based on measurement data. And verifying whether the established magnetic field model can accurately predict the magnetic field distribution condition in the actual scene or not, which can be realized by comparing the magnetic field distribution condition with actual measurement data.
(3) Magnetic field probe deployment is implemented, and actual measured magnetic field data is collected and transmitted to a computer or data processing unit. And combining the magnetic field distribution data calculated by the scene self-adaptive magnetic field model with actual data measured by a sensor, and performing data fusion and calibration operation to achieve a power frequency magnetic field distribution result with higher accuracy. The optimal combination of magnetic field data is realized, and reliable data support is provided for the accurate visualization of the power frequency magnetic field.
(3.1) Data fusion: fusing magnetic field data generated by the computational model with actual measurement data, which may take the following steps:
a. Interpolation of data: the interpolation technology is used for matching the calculation model data with the actual measurement data, and methods such as linear interpolation, two-dimensional interpolation and the like can be adopted to fill gaps among the data.
B. Data fusion algorithm: the calculated data and the measured data are combined by adopting a data fusion algorithm (such as weighted average or Kalman filtering, etc.), so that a more accurate result is obtained. These algorithms can take into account the reliability and weighting of different data sources. The purpose of this step is to fully fuse the data generated by the model with the measured data to obtain a power frequency magnetic field distribution result with higher accuracy.
(3.2) Calibration operation: data calibration is performed to eliminate systematic errors between the measured device and the computational model. The calibration method may comprise the steps of:
a. zero point calibration: by adjusting the zero point deviation between the measured data and the calculated data to zero, the inherent constant error is eliminated.
B. gain calibration: the data amplitude is calibrated by means of a scaling factor to match the amplitude of the calculated data with the measured data. This process may require corresponding adjustments based on probe characteristics.
C. Nonlinear calibration: if there is a nonlinear error, nonlinear calibration is required to more accurately match the response characteristics of the measured data. This series of calibration steps aims at eliminating errors and ensuring the consistency of the actual data with the results of the calculation model.
(4) Setting up and configuring a computer graphic image technology development environment, and constructing a three-dimensional scene model based on magnetic field data, wherein a geometric model of the electrical equipment and the position thereof is fused. And drawing a three-dimensional image with magnetic field information according to the distribution condition of the data in the scene by correlating the power frequency magnetic field data with the scene model. The method aims at fusing the magnetic field data with the actual scene, realizing visual display of the power frequency magnetic field distribution and providing powerful support for the development of the magnetic field visualization application module. A typical method of three-dimensional data field visualization is shown in fig. 4.
(4.1) Scene model association: correlating the magnetic field data generated by the model with an actual scene model may involve matching the model data with the actual physical construction of the scene (e.g., building, cable, equipment, etc.) to pinpoint the location of the data in the scene. This step aims at ensuring that the magnetic field data generated by the model can be accurately mapped into the actual environment, and providing accurate data support for the visual presentation of the subsequent magnetic field distribution.
(4.2) Visual image rendering: suitable three-dimensional visualization tools or software, such as Matplotlib, paraView in MATLAB, python, are selected to map the three-dimensional image of the magnetic field. With these tools, the fused and calibrated magnetic field data is presented in the form of three-dimensional images, including the generation of stereograms, isosurfaces, vector field maps, and the like. The readability of the image is enhanced by adjusting visualization parameters such as color mapping, transparency, viewing angle, etc. If possible, an interactive visual environment is created, allowing the user to navigate and explore the magnetic field data at will in the three-dimensional scene. This need can be achieved by means of a specialized visualization library or software. This procedure aims to effectively translate magnetic field data into an intuitive and easily understood three-dimensional visual image.
In the embodiment, the magnetic field detection device is combined with the mechanical arm, and the detection device is arranged on the mechanical arm to realize three-dimensional scanning detection of the magnetic field in the target area. Compared with the traditional static detection method, the mechanical arm scanning technology can realize more comprehensive and finer magnetic field data acquisition and provide richer information for visualization. The scene self-adaptive magnetic field model is constructed by acquiring topological structures and parameters of electrical equipment and combining the position and parameter information of the electrical equipment. The power frequency magnetic field distribution can be calculated according to key parameters such as current, voltage, geometric shape of a conductor and the like by using a numerical calculation method (such as a finite element method) or an analytic calculation method and the like. The distribution situation of the power frequency magnetic field in different scenes can be accurately described. According to the embodiment, the magnetic field distribution data calculated by the scene self-adaptive magnetic field model is combined with actual data measured by the sensor, and data fusion and calibration operation are carried out, so that a power frequency magnetic field distribution result with higher accuracy is achieved. According to the invention, a three-dimensional scene model is firstly established according to the obtained data, wherein the model comprises the geometric shape of the electrical equipment and the relative position information of the electrical equipment. And then connecting the actually collected power frequency magnetic field data with a scene model to ensure that the magnetic field data can accurately correspond to the corresponding position. And finally, by carrying out proper optimization processing on the data, drawing a three-dimensional image reflecting the magnetic field distribution according to the distribution of the data in the scene. The visualization process enables the power frequency magnetic field information to be visually presented, and through combination with a scene model, an observer can more clearly understand the spatial distribution condition of the magnetic field.
While the foregoing describes the illustrative embodiments of the present invention so that those skilled in the art may understand the present invention, the present invention is not limited to the specific embodiments, and all inventive innovations utilizing the inventive concepts are herein within the scope of the present invention as defined and defined by the appended claims, as long as the various changes are within the spirit and scope of the present invention.
Claims (7)
1. A power frequency magnetic field visual detection method based on mechanical arm scanning is characterized in that: the industrial frequency magnetic field visual detection method based on the mechanical arm scanning comprises the following steps:
selecting a magnetic field probe to be mounted on a mechanical arm according to the characteristics of a region to be detected, predefining a motion path of the mechanical arm, and scanning each position in the region to be detected by the mechanical arm and the magnetic field probe; the control mechanical arm drives the magnetic field probe to complete the scanning of the magnetic field parameters of each position of the region to be detected;
step two, collecting topological structure parameters and electrical equipment parameters, and constructing a scene self-adaptive magnetic field, wherein a scene self-adaptive magnetic field model comprises model elements including equipment positions, connection modes and wire arrangement; distributing defined current and voltage values for each device of the self-adaptive magnetic field model package, and completing verification of the scene self-adaptive magnetic field through parameter estimation;
Acquiring magnetic field data of a region to be measured in real time, and fusing the magnetic field distribution data obtained by calculation in the scene self-adaptive magnetic field model with the magnetic field data measured by the magnetic field probe in real time to perform data fusion and data calibration so as to finish the precision optimization of the power frequency magnetic field distribution information;
Step four, constructing a three-dimensional scene model containing the positions of the electrical equipment and the electrical equipment by using the power frequency magnetic field distribution information after the precision optimization; the method comprises the steps of correlating the power frequency magnetic field data with the scene model, and drawing a three-dimensional image of the presentation magnetic field according to the distribution of the power frequency magnetic field data in the scene model to complete visual graph drawing.
2. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps: in a first step, calibrating the magnetic field probe includes:
Step 1, defining a magnetic field probe distortion calibration model:
xd＝(xu-xc)·(1+k·r2)；
yd＝(yu-yc)·(1+k·r2)；
Wherein, (x u,yu) is the coordinate value of a predefined ideal magnetic field map point, (x d,yd) is the coordinate of a corresponding distorted magnetic field map point, (x c,yc) is the distortion center coordinate, and k is the magnetic field probe distortion calibration coefficient;
step 2, presetting n parallel lines which are parallel to each other, and defining a linear equation on an ideal magnetic field diagram as:
yu＝ai·xu+bi；
Wherein a i and b i satisfy: rank function
Step 3, collecting an ith curve on the distorted magnetic field diagram, and selecting m mark points on the curve; defining the j (j.ltoreq.m) th point coordinate value as (x dij,ydij); calculating coordinate values (x uij,yuij) on an ideal imaging plane corresponding to the j-th point coordinate according to the distortion calibration model in the step 1;
calculating a fitting function of the ith curve through a fitting algorithm:
Wherein, Is the transposed matrix of X ui,Is the transposed matrix of Y ui;
and (3) bringing the fitting function into a linear equation on the ideal image in the step (1), and solving the distortion parameter k simultaneously.
3. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps: in the second step,:
Collecting topological structures of the electrical equipment, wherein the topological structures comprise positions, connection modes and circuit arrangement parameters of the electrical equipment, and currents, voltages and frequencies;
Constructing a scene self-adaptive magnetic field, wherein each electric device is defined as a source or a load in the magnetic field, and the magnetic field effect generated by the electric device is calculated according to electric device parameters; and then constructing a scene self-adaptive magnetic field according to the topological structure information of the electrical equipment.
4. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps:
the data fusion and data calibration in the third step comprises the following steps:
the data fusion comprises the following steps:
Interpolation of data: matching the calculated magnetic field distribution data with the magnetic field data measured by the magnetic field probe in real time by using an interpolation method, and filling gaps among the data;
data fusion, namely fusing calculated data and measured data by adopting a data fusion algorithm to realize data fusion optimization;
The data calibration includes: zero calibration, gain calibration, nonlinear calibration.
5. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps: in the fourth step, the visual graphic drawing further includes: optimizing the image readability by adjusting visualization parameters such as color mapping, transparency, viewing angle, etc.;
An interactive visual environment is created that allows a user to navigate and explore magnetic field data randomly in a three-dimensional scene.
6. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps: the magnetic field probe is a low-frequency magnetic field probe, can effectively measure a magnetic field in a frequency range from 1Hz to 4000Hz, and has a field strength measuring range from 1nT to 10mT.
7. The method for visualizing the industrial frequency magnetic field based on the mechanical arm scanning as in claim 1, wherein the method is characterized by comprising the following steps: the mechanical arm is a short-time rapid scanning mechanical arm.
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| CN120993054A (en) * | 2025-10-22 | 2025-11-21 | 石家庄铁道大学 | A method and device for near-field visualization of electromagnetic fields that integrates machine vision and electromagnetic measurement |
| CN120993054B (en) * | 2025-10-22 | 2025-12-26 | 石家庄铁道大学 | A method and device for near-field visualization of electromagnetic fields that integrates machine vision and electromagnetic measurement |
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Cited By (2)
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| CN120993054A (en) * | 2025-10-22 | 2025-11-21 | 石家庄铁道大学 | A method and device for near-field visualization of electromagnetic fields that integrates machine vision and electromagnetic measurement |
| CN120993054B (en) * | 2025-10-22 | 2025-12-26 | 石家庄铁道大学 | A method and device for near-field visualization of electromagnetic fields that integrates machine vision and electromagnetic measurement |
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