CN103234564B - Based on localization method and the positioning system of two-dimensional magnetic coding - Google Patents
Based on localization method and the positioning system of two-dimensional magnetic coding Download PDFInfo
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Abstract
The invention discloses a kind of localization method based on two-dimensional magnetic coding and positioning system, according to the present invention, adopt and there is the guiding that the periodically variable tape of magnetic field intensity carries out carrier, and adopt magnetic two-dimensional encoded agllutination conjunction tape to position, because these two encoding blocks not only uniquely determine a position, and basic point can be further used as the location, position between node by it, overall calculation amount greatly reduces, and therefore can reduce cumulative errors, improve the precision of location, thus ensure that accurate location.
Description
Technical field
The present invention relates to a kind of localization method and the positioning system of applying magnetic coding techniques.
Background technology
In the operation of flooring, as factory floor etc., carrier (automatic guided vehicle etc.) determines that himself position in operation plane is the basis of automated job.Because of should the requirement determined at operation plane median of carrier, generally adopt localization method.Current exist multiple location technology, mainly contains following three kinds of localization methods:
The first localization method: RFID(RadioFrequencyIdentification, REID, be again radio frequency identification or electronic tag) location technology, by burying RFID label tag underground in pre-position, ground, carrier installs card reader, by the position judgment of card reader to RFID label tag, determine the positional information of carrier in operation plane.
The second localization method: inertial positioning technology, inertial positioning technology is successfully applied to military affairs the earliest, Negotiation speed, acceleration and angular transducer, the control system of carrier can calculate the Distance geometry direction of current location relative to reference position, thus determines self positional information relative to starting point.
The third localization method: wireless location technology, carrier installs wireless launcher, in space detector is installed, to the specific electromagnetic wave that the emitter be arranged on carrier is launched, multiple detectors in space resolve it, determine poor, angle of arrival time of arrival each other.Utilize geometric relationship to calculate the position of emitting antenna, thus calculate carrier position on the ground.
Above-mentioned three kinds of localization methods, in conjunction with specific applied environment, are applied, in practice all to some extent as WiFi wireless location technology.But all there is following shortcoming:
Shortcoming 1:RFID applies in location technology, is generally passive RFID, there is the location response time longer, and generally once waking up needs about 100ms, limits the travelling speed of carrier; And positioning precision is poor, be generally greater than 100mm.Although to some extent solve above-mentioned shortcoming for active RFID, owing to laying, label is more loaded down with trivial details, cost is higher, makes it not possess actuality at Work places in a big way.
Shortcoming 2: although inertial positioning technology can realize higher positioning precision, cost is very high, is not suitable for the generality application not high to positioning accuracy request.
Shortcoming 3: although wireless location technology has advantage flexible for installation, but positioning precision is poor, if WiFi is in conjunction with the wireless location technology of RFID, positioning precision is generally at more than 1000mm, high-precision private radio positioning product, as impulse radio electricity, cost is very high, is not suitable for the generality application not high to positioning accuracy request.
China CN102192699A discloses a kind of non-contact type inductor, its more detailed describing utilizes the detecting device of magnetic stripe and configuration to carry out the judgement of carrier position, speed, counting or abnormality, it discloses a kind of basic fixed position principle based on magnetic stripe technology.More specifically, see the 0040th section, its instructions, point out for N, S mark 0,1, thus see certain information of section segment table occurred continuously at 0 and 1 signal, no signal section represents non-carrier to be passed through.In it realizes, after a certain detecting device detects 1 signal, represent this carrier and arrive precalculated position, (or closedown) next specific action can be carried out; And calculate translational speed etc. according to the mistiming between two 1 signals, the solution of speed, position is proposed.
The judgement that above-mentioned CN102192699A adopts a magnetic stripe to realize such as position, speed, counting or abnormality, calculated amount is relatively large, and responding ability is not enough.N, S magnetic pole of single magnetic stripe configuration makes and relatively bothers, high expensive.Therefore, in adopting the overwhelming majority of magnetic stripe location to realize, the method coordinating other locator meamss to carry out comprehensive location is generally adopted.
In such as Chinese patent literature CN102661745A, disclose a kind of navigate mode with magnetic stripe and RFID label tag automatic walking robot, it adopts comprehensive localization method, naturally inevitably there is the inherent shortcoming as RFID localization method.
Summary of the invention
Therefore, the object of the invention is to provide a kind of on the one hand realize simple and locate reliably based on the localization method of two-dimensional magnetic coding, a kind of positioning system on the other hand.
The present invention is by the following technical solutions:
According to a kind of localization method based on two-dimensional magnetic coding of one aspect of the present invention, the node that carrier predefined paths is selected arranges the two-dimensional magnetic encoding block of mark corresponding node, and between the node in path, be laid on the periodically variable tape of magnetic field intensity on path direction, correspondingly, carrier arranges Hall element group and the treatment facility of the Distribution of Magnetic Field on operating path for detecting, thus, carrier is operationally guided based on periodically variable magnetic field, locate with the carrier that the position residing for present node is used between present node to next node for positioning datum, accordingly, between node by absolute position that cycle count on tape and wavelength product are determined under described base condition.
According to a kind of positioning system based on two codings of another aspect of the present invention, be included in carrier operation predefined paths and select the two-dimensional magnetic encoding block that node is arranged and the tape forming magnetic orbital according to node described in Path Connection, and the Hall element group identified magnetic medium on path be arranged on carrier and the treatment facility processed institute's identification signal, thus this treatment facility exports according to handled result and controls described carrier and to run along described path and to position in conjunction with tape according to the position that two-dimensional magnetic encoding block is demarcated; Wherein, described tape forms the magnetic field with intensity mechanical periodicity on path direction by magnetic medium block periodicity array.
As can be seen from such scheme, according to the present invention, adopt and there is the guiding that the periodically variable tape of magnetic field intensity carries out carrier, and adopt magnetic two-dimensional encoded agllutination conjunction tape to position, because these two encoding blocks not only uniquely determine a position, and basic point can be further used as the location, position between node by it, overall calculation amount greatly reduces, and therefore can reduce cumulative errors, improve the precision of location, thus ensure that accurate location.
The above-mentioned localization method based on two-dimensional magnetic coding, described tape is formed by the magnetic block linear array of rectangle, described two-dimensional magnetic encoding block is then be divided into N × N number of cell on one foursquare piece, N represents the foursquare length of side, the cell being filled with magnetic squares block represents 1, blank cell represents 0, thus when recognition unit lattice according to the Bit String representated by predetermined ranks reading order determination two-dimensional magnetic encoding block.
The above-mentioned localization method based on two-dimensional magnetic coding, is upper from carrier close to the direction of node during node read method, adopts and identify from the upper left corner, identifies in from left to right mode from top to bottom.
The above-mentioned localization method based on two-dimensional magnetic coding, when a node connects multiple path, when ensureing never to enter this node with path, the Bit String of reading is different.
The above-mentioned localization method based on two-dimensional magnetic coding, Hall cells and described cell one_to_one corresponding on carrier, and the array of equal 2 × 2 has 4 Hall elements on Hall cells, thus when detecting, the signal of statistics 4 Hall elements, is defined as the identification signal of this Hall cells with the Distribution of Magnetic Field signal calculated through linear interpolation.
The above-mentioned localization method based on two-dimensional magnetic coding, the area of Hall cells array is greater than the area of two-dimensional magnetic encoding block.
The above-mentioned localization method based on two-dimensional magnetic coding, the Hall element of two bit arrays is used to detect the distribution in magnetic field, keep the narrowest with the magnetic field intensity monitored in predetermined direction of motion, and then on traffic direction, form changes of magnetic field curve by time uniform period sampling, re-use interpolation method matched curve, compared with the magnetic field intensity preset, and calculate carrier by time used in tape cycle, calculate instantaneous velocity in conjunction with the path in the tape cycle; Correspondingly, the carrier average velocity in this time period is calculated by tape periodicity in a period of time.
The above-mentioned positioning system based on two codings, described tape is the linear array of magnetic block uniform intervals.
The above-mentioned positioning system based on two codings, described two-dimensional magnetic encoding block for be divided into N × N number of cell on one foursquare piece, and each cell is filled with magnetic block according to predetermined coding or keeps blank; Accordingly, described Hall element group is the Hall cells array of the arrangement identical with described cell, and each Hall element group is provided with four Hall elements all put, to identify corresponding unit lattice simultaneously; Wherein the area of Hall element group is greater than the area of two encoding blocks.
Accompanying drawing explanation
Fig. 1 is according to a kind of two-dimensional magnetic coding method schematic diagram of the present invention.
Fig. 2 is according to a kind of period discrete guiding tape laying method schematic diagram of the present invention.
Fig. 3 is according to the two-dimentional Hall sensor array distribution schematic diagram of one of the present invention.
Fig. 4 is according to a kind of magnetic orbital schematic diagram of the present invention.
Embodiment
In conjunction with the localization method of tape guidance technology, as background technology part the patent documentation quoted, the comparative maturity that tape guidance technology has developed.As shown in Figure 4; here concrete grammar is: the tape that the magnetic field intensity with one fixed width is mechanical periodicity is laid in the path that the track of advancing at carrier sets in other words; be referred to as period discrete guiding tape; then detect above-mentioned period discrete guiding tape by Hall sensor array, and by the attitude of the distribution adjustment carrier detecting magnetic field intensity, carrier is run along period discrete guiding tape according to predetermined attitude and direction.
The square in Fig. 4 with grid represent in FIG for and be coding method box structure schematic diagram in other words.Represent the cell grid in other words such as 1,0 wherein without the need to feelings Chu in the diagram, tackling Fig. 4 according to Fig. 1 those skilled in the art has and clearly understands.
On this basis, according to the specific guiding position for selecting, place the magnetic coding region of two dimension, the distribution being detected magnetic field by two-dimentional Hall sensor array realizes decoding, determines to realize the location of carrier in the specific region that calibration and application is relevant.
Carrier is typically provided with Vehicle Controller or other logical operation control device, and the sensor so for guiding and locate can access Vehicle Controller, for controlling the attitude of carrier and the location to carrier.
The method of the tape of a kind of magnetic field spatially period discrete distribution is: tape is carried out cutting, the shape of cutting is rectangle, as shown in Figure 2, and the W3 that W2 is greater than 2 times, namely the length of rectangle is generally greater than 2 times of width, and the tape that linear array is formed is called scale tape.
The center of scale tape is placed on the path of setting, long limit is vertical with the direct of travel of track, the limit that in Fig. 2, W2 is corresponding, from scale tape, the onesize blank of same scale tape is left without magnetic area along trajectory direction, and then place scale tape, and same leaving a blank is without magnetic area, repeats this process, until cover whole track.Define above track like this one spatially period discrete distribution this track of magnetic field on all scale tapes combine be called period discrete guiding tape.
In Fig. 2, black represents magnetic block, is encoded to 1, and dead zone is encoded to 0.
In the structure shown in Fig. 2, use structure tape structure without the need to constructing N, S pairing, cost compare is low, and the speed that arranges can be faster.Certainly, N, S also can be used here to match as a unit, then construct tape by the mode of unit linear array.
In such a configuration, the width W 4 of white space can be not equal to W3, does not also affect the identification in path.But as shown in Figure 2, period discrete guiding tape is for identification equipment, and can produce square wave as shown in the lower part of Figure 2, easily calculating also can as clock signal or reference signal.
Location position is realized by two-dimensional magnetic coding techniques in above-mentioned content, as shown in Figure 4, arrange some two-dimensional magnetic encoding blocks in the paths and form node, these nodes are used for as equipment location, concrete positioning parts etc. on equipment, can also as path junction node.
One method is: by plane, and namely selected on scope of operation path square area divides, and is divided into the N that area is identical with shape
2individual little square, the length of side is that in W1, figure, black box represents the grid placing tape or this journey medium, and be encoded to 1, white represents the grid not placing tape, is encoded to 0.Wherein N represents the grid number that every limit is corresponding.
The grid that the large foursquare length of side is divided into N equal portions to be formed, each grid constitutes a basic bits of coded, and each bits of coded adopts binary coding, tape is cut into the tape that same grid surface sum shape is identical, is called encoder tape, N
2the region that individual bits of coded is formed is called coding region.
Any one grid in coding region can place encoder tape, or keep blank, thus the magnetic field intensity of significantly difference above each grid, can be detected because placing or keep blank, binaryzation is carried out to magnetic field intensity, achieve a kind of two-dimensional magnetic coding method, use identical two-dimensional arrangements Hall element matrix realize decoding, in conjunction with the guiding of continuous tape, thus low cost, the guiding achieving carrier accurately and location.
By the selection to guiding tape and encoder tape, guidance accuracy is better than 5mm, and positioning precision is better than 15mm.
After being set by two-dimensional magnetic encoding block, the position at its place is to be determined, thus can carry out specific coding calculating based on certain node, significantly can reduce calculated amount.
Should know that guiding tape is when being set up, the corresponding so-called cycle is determined, so according to gathered waveform signal, the time coordinating carrier to run can calculate carrier current position, instantaneous velocity and average velocity.
According to the node preset, the setting of carrier acceleration, braking section can be carried out, to ensure that before equipment, carrier just reduces speed now before certain node of arrival, thus ensure the accuracy that carrier is stopped when the equipment of arrival.
At carrier in operation plane, the discrete guiding tape of life cycle is laid on the track of carrier operation, needing the place of recognizing site, coding region is set, and encode, period discrete guiding tape should keep vertical with coding region, the central shaft of coding region overlaps with the central shaft of guiding tape running direction, carrier is run along on guiding tape by two-dimentional Hall sensor array, after entering coding region, by detection and Identification magnetic field intensity, decode, thus complete guiding and positioning function.
It should be noted that carrying out encoding to code area office is exactly the process it being arranged to band tape grid as shown in Figure 1, encoding and decoding on this basis will be apparent in conjunction with prior art, repeats no more this herein.
In following content, 4 proposing a kind of method realizing overall situation coding on whole magnetic orbital by reference to the accompanying drawings, when not increasing coding region, achieving the identification in different path.Magnetic orbital is made up of node and path therebetween, and coding region is placed on node, node and coding region one_to_one corresponding.
Node is the key link on magnetic orbital, divide from the number of paths of connected node, node is divided into single path, dual path (straight-through, two path angles are 180 degree), dual path is (vertical, the angle in two paths is 90 degree), three paths and four path nodes, all paths are vertical with a limit of coding region.
According to above classification and definition, the specific coding method of coding region node is: the coding region unification be placed on magnetic orbital path node is placed according to a direction, namely any one coding region can be obtained after translation by other any one coding regions, from the direction close to coding region along coding region viewed from path, its some direction is seen, the direction run as carrier is seen, the coding grid in the upper left corner is as the 1st row the 1st row bits of coded, from left to right from top to bottom, M capable L row bits of coded successively, all these characterize the unique encodings mark entering coding region from this path, for multipath node, should ensure that it is all different for never entering with path the coding that coding region sees, and ensure that the coding on all path directions within the scope of whole magnetic orbital is all different, thus to ensure that more any paths within the scope of whole track enters the coding that coding region sees be unique, the run action of carrier in whole magnetic orbital is made to have unique and clear and definite implication by this coding method.
In order to the path that the trend or carrier of distinguishing carrier are run, when a node connects multiple path, when ensureing never to enter this node with path, the Bit String of reading is different.Like this may to there being a group coding for same node.
Known in above content, in the face of more coding, to meet global application, by two coded systems, can the two-dimensional magnetic encoder tape had compared with large information capacity may be set in limited space concrete application person.
And then, the Hall sensor array of two dimensional uniform distribution is used to detect magnetic orbital, concrete grammar is: Hall element is that two-dimensional linear is uniformly distributed, because the size of Hall element is less, 4 Hall elements are adopted to detect a coding grid, adjudicated the coding of current grid by the mean value 4 Hall elements being detected to numerical value, overcome the detection error code because movement warp causes.
The total area of Hall sensor array is greater than coding region, still accurately can detect the encoded radio of coding region when certain deviation occurs in carrier position.
Said mean value can show as 4 sensors identify 31 and 10, is distributed by linear interpolation calculating magnetic field.This method can reduce the bit error rate effectively.
Period discrete is utilized to guide the method for the tape estimation instantaneous travelling speed of carrier and average running speed.Concrete grammar is: use two-dimentional Hall sensor array to detect the distribution in magnetic field, remain on the magnetic field that the direction vertical with regulation traffic direction detects the narrowest, namely carrier orbiting is ensured, to on traffic direction, changes of magnetic field curve is formed by time uniform period sampling, re-use interpolation method matched curve, compare with the magnetic field intensity preset, the time of carrier through the tape in 1 cycle can be calculated, thus by the length of 1 cycle tape divided by this time, it is exactly approximate instantaneous velocity, within a period of time, to the cycle tape counting of process, calculate the distance of process during this period of time, with the time of this distance divided by experience, be exactly average velocity interior during this period of time.
The tape used generally adopts the rubber magnetic stripe of width 50mm, and cost is very cheap, and can be customized to any shape.
Rubber magnetic stripe be mainly used in refrigerator, kitchen appliance and, in the door seal gum cover such as bathroom facility, door and window, because its suction is moderate, after being combined into door seal with garment bag, favorable sealing property, Acclimation temperature scope is wide, and it is convenient to open, durable in use, thus widespread use in every profession and trade.
As long as utilize the magnetic of rubber magnetic stripe here, the main material ingredient that rubber magnet bar is supplied at present is in a large number: 85% ~ 92% barium (strontium) ferromagnetic oxide powder, 5% ~ 9%CPE.Its shape, magnetic pole and suction etc. require the model of differently composed difformity and characteristic, and the form of one side multipole flat that many is, supply status is generally rolling or is coiled into plate-like supply.
The distance of Hall sensor array distance tape is generally at 20mm ~ 50mm, and this distance should be determined according to the concrete condition of the magnetic field intensity of tape and carrier, specifically can by experiment in the bit error rate that produces adjust described distance.
An embodiment more specifically, as shown in Figures 1 to 4, coding region is by square net compositing area, each grid can arrange tape or keep blank, what have tape is encoded to 1, and what do not have tape is encoded to 0, as Fig. 1. thus it is two-dimensional encoded to achieve coding region.Use the grid of 4 × 4 in Fig. 1, according to the difference of application, can adopt the grid of other quantity, coding region also can be the rectangle that length and width are different, the rectangle that grid also can adopt length and width not wait, and correspondingly, Hall sensor array also should adjust.
Period discrete guiding tape is by periodically placing tape composition.Concrete as Fig. 2, in fig. 2, on traffic direction, the width of tape and the width of blank are identical, in order to save tape, also can adopt the width increasing white space.
Two dimension Hall sensor array embodiment is: arranged by the mode of surface mount mode according to Fig. 3 by the Hall element that circuit board is installed.Herein, the mode detected with four Hall elements according to a coding grid, the quantity increasing single encoded grid Hall element can improve the accuracy of decoding.
The total area of two dimension Hall sensor array is greater than coding region, and takes evenly distributed mode, like this when carrier departs from guiding tape certain distance, still can correctly decode.
Code region and guiding tape form magnetic orbital jointly, and coding region is the node of track, and guiding tape is the path of track.Fig. 4 is the magnetic orbital containing single path, dual path, three paths and these four kinds of nodes of four path nodes.Carrier, by the guiding of guide path and the identification of coding region, can run along guide path, and position at coding region, completes guiding and positioning function.
Claims (9)
1. the localization method based on two-dimensional magnetic coding, it is characterized in that, the node that carrier predefined paths is selected arranges the two-dimensional magnetic encoding block of mark corresponding node, and between the node in path, be laid on the periodically variable tape of magnetic field intensity on path direction, correspondingly, carrier arranges Hall element group and the treatment facility of the Distribution of Magnetic Field on operating path for detecting, thus, carrier is operationally guided based on periodically variable magnetic field, locate with the carrier that the position residing for present node is used between present node to next node for positioning datum, accordingly, between node by absolute position that cycle count on tape and wavelength product are determined under described positioning datum.
2. the localization method based on two-dimensional magnetic coding according to claim 1, it is characterized in that, described tape is formed by the magnetic block linear array of rectangle, described two-dimensional magnetic encoding block is then be divided into N × N number of cell on one foursquare piece, N represents the foursquare length of side, the cell being filled with magnetic squares block represents 1, and blank cell represents 0, thus when recognition unit lattice according to the Bit String representated by predetermined ranks reading order determination two-dimensional magnetic encoding block.
3. the localization method based on two-dimensional magnetic coding according to claim 2, is characterized in that, is upper, adopts and identify from the upper left corner during node read method from carrier close to the direction of node, identifies in from left to right mode from top to bottom.
4. the localization method based on two-dimensional magnetic coding according to claim 3, is characterized in that, when a node connects multiple path, when ensureing never to enter this node with path, the Bit String of reading is different.
5. according to the arbitrary described localization method based on two-dimensional magnetic coding of claim 2 to 4, it is characterized in that, Hall cells and described cell one_to_one corresponding on carrier, and equal 2 × 2 ground arrays have 4 Hall elements on Hall cells, thus when detecting, the signal of statistics 4 Hall elements, is defined as the identification signal of this Hall cells with the signal of the Distribution of Magnetic Field calculated through linear interpolation.
6. the localization method based on two-dimensional magnetic coding according to claim 5, it is characterized in that, the area of Hall cells array is greater than the area of two-dimensional magnetic encoding block.
7. the localization method based on two-dimensional magnetic coding according to claim 1, it is characterized in that, the Hall element of two-dimensional array is used to detect the distribution in magnetic field, keep the narrowest with the magnetic field intensity monitored in predetermined direction of motion, and then on traffic direction, changes of magnetic field curve is formed by time uniform period sampling, re-use interpolation method matched curve, compared with the magnetic field intensity preset, and calculate carrier by time used in tape cycle, calculate instantaneous velocity in conjunction with the path in the tape cycle; Correspondingly, the carrier average velocity in this time period is calculated by tape periodicity in a period of time.
8. one kind based on two-dimensional encoded positioning system, it is characterized in that, be included in carrier operation predefined paths and select the two-dimensional magnetic encoding block that node is arranged and the tape forming magnetic orbital according to node described in Path Connection, and the Hall element group identified magnetic medium on path be arranged on carrier and the treatment facility processed institute's identification signal, thus this treatment facility exports according to handled result and controls described carrier and to run along described path and to position in conjunction with tape according to the position that two-dimensional magnetic encoding block is demarcated; Wherein, described tape forms the magnetic field with intensity mechanical periodicity on path direction by magnetic medium block periodicity array;
Described two-dimensional magnetic encoding block for be divided into N × N number of cell on one foursquare piece, and each cell is filled with magnetic block according to predetermined coding or keeps blank; Accordingly, described Hall element group is the Hall cells array of the arrangement identical with described cell, and each Hall element group is provided with four Hall elements all put, to identify corresponding unit lattice simultaneously; The wherein area of the Hall element group area that is greater than two-dimensional encoded piece.
9. according to claim 8ly it is characterized in that based on two-dimensional encoded positioning system, described tape is the linear array of magnetic block uniform intervals.
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