CN104049635A - Intelligent car walking positioning method based on electronic compass - Google Patents
Intelligent car walking positioning method based on electronic compass Download PDFInfo
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- CN104049635A CN104049635A CN201410319367.XA CN201410319367A CN104049635A CN 104049635 A CN104049635 A CN 104049635A CN 201410319367 A CN201410319367 A CN 201410319367A CN 104049635 A CN104049635 A CN 104049635A
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Abstract
The invention discloses an intelligent car walking positioning method based on an electronic compass. According to the method, an electronic compass module, a drive system module, a position calculating module and a control center module are included. The position locating and calculating of the position calculating module include the step that the advancing journey of a car in the direction is obtained by multiplying the perimeter of the outer surface of each wheel of the car by the number of rotation turns of the wheel; the starting point, the eastward direction and the northward direction serve as the original point, the X axis and the Y axis respectively; a coordinate increment relative to the original point is obtained according to the advancing journey in a certain direction from the original point, the included angle between the direction and the X axis and the included angle between the direction and the Y axis, and real-time coordinates are obtained; the car continues to run in another direction, a new coordinate increment is obtained according to the advancing journey in the direction, the included angle between the direction and the X axis and the included angle between the direction and the Y axis, new coordinates are obtained by adding the coordinates obtained before the direction is changed to the new coordinate increment, and the real-time position of the car is obtained by carrying out the steps repeatedly. By means of the intelligent car walking positioning method based on the electronic compass, the position of the car relative to the position of the starting point can be determined, and the car can be made to run to a target position through program control within known environmental regions.
Description
Technical field
The present invention relates to a kind of carriage walking positioning method, especially a kind of intelligent carriage walking positioning method based on electronic compass.
Background technology
Along with economical and scientific and technological development, intellectual technology more and more uses in the middle of production, life.Intelligent walking dolly is studied widely as the carrier of intelligent mobile.The location that the intelligent carriage of the present invention's design can be realized without GPS location technology dolly.And because the error of GPS location is larger, be unsuitable for the accurate location of dolly.And the present invention calculates the position of dolly with respect to starting point by the real-time orientation determination of electronic compass and the distance of upwards travelling the party, thereby make dolly can determine in real time the relative position of oneself.In known environment region, can under walking path, drive to target location by programmed control dolly.
Summary of the invention
The object of the present invention is to provide a kind of intelligent carriage walking positioning method based on electronic compass, this dolly can utilize electronic compass to determine the position of self, and travelling of dolly can be accurately controlled.
The technical solution used in the present invention is:
The intelligent carriage of the inventive method comprises electrical compass module, drive system module, and position computation module and control center's module, specifically comprise:
Electrical compass module obtains the travel direction information that records dolly and is converted into direction signal and sends position computation module to; Control center's module is sent signal to drive system module, controls car wheel and travels; The position that the control signal of travelling of the direction signal of the electrical compass module that position computation module is obtained by reception and control center's module is carried out counting of carriers positions, and dolly positional information is transferred to control center's module:
In described position computation module, the position location Calculation of dolly is specifically adopted to following methods:
1) calculate traveling distance: when dolly is during along certain direction running, the number of turns of the wheel outside surface girth of dolly and vehicle wheel rotation is multiplied each other and obtains the traveling distance of dolly in this direction.
2), taking the starting point of dolly as initial point, taking the positive axis direction as X-axis eastwards, taking the positive axis direction as Y-axis northwards, build plane coordinate system by initial point, X-axis and Y-axis;
Dolly, from starting point along a direction running, obtains the increment of coordinate of dolly with respect to initial point with the angle of X, Y-axis respectively according to the downward traveling distance of the party and this direction, obtains coordinate J;
When changing direction, dolly travels along other direction, obtain dolly at upwards new increment of coordinate of the party with the angle of X, Y-axis respectively according to travel distance and this direction of this direction, new increment of coordinate is added at the coordinate J changing before direction and obtains new coordinate K, repeat to obtain the real time position of dolly with this.
Described electrical compass module obtains the travel direction information of dolly by detecting terrestrial magnetic field direction, and is converted to the direction signal of digital signal.
The pulse signal that the number of turns of the vehicle wheel rotation in described step 1) is sent by control center's module and the parameter of stepper motor obtain.
The beneficial effect that the present invention has is:
The present invention can realize with respect to the self-position of starting point position and determining, can make dolly drive to target location by programmed control in known environment region.
Brief description of the drawings
Fig. 1 is the process flow diagram of position of the present invention location Calculation.
Fig. 2 is the dolly travel route figure of the embodiment of the present invention.
Fig. 3 is the graph of a relation between the each module of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
The intelligent carriage of the inventive method comprises electrical compass module, drive system module, and position computation module and control center's module, method specifically comprises:
Electrical compass module obtains the travel direction information that records dolly and is converted to direction signal and sends position computation module to; Control center's module is sent signal to drive system module, controls car wheel and travels; The position that the control signal of travelling of the direction signal of the electrical compass module that position computation module is obtained by reception and control center's module is carried out counting of carriers positions, and dolly positional information is transferred to control center's module:
In described position computation module, the position location Calculation of dolly is specifically adopted to following methods:
1) calculate traveling distance: when dolly is during along certain direction running, the number of turns of the wheel outside surface girth of dolly and vehicle wheel rotation is multiplied each other and obtains the traveling distance of dolly in this direction.
2), taking the starting point of dolly as initial point, taking the positive axis direction as X-axis eastwards, taking the positive axis direction as Y-axis northwards, build plane coordinate system by initial point, X-axis and Y-axis;
As shown in Figure 1, dolly from starting point by control center's module controls along a direction running, obtain the increment of coordinate of dolly with respect to initial point with the angle of X, Y-axis respectively according to the downward traveling distance of the party and this direction, obtain coordinate J;
When changing direction, dolly travels along other direction, obtain dolly at upwards new increment of coordinate of the party with the angle of X, Y-axis respectively according to travel distance and this direction of this direction, new increment of coordinate is added at the coordinate J changing before direction and obtains new coordinate K, repeat to obtain the real time position of dolly with this.
Described electrical compass module obtains the travel direction information of dolly by detecting terrestrial magnetic field direction, and is converted to the direction signal of digital signal.
The pulse signal that the number of turns of the vehicle wheel rotation in described step 1) is sent by control center's module and the parameter of stepper motor obtain.
In described control center's module, send control signal and control signal is transferred to position computation module to drive system module, the real time position signal that meanwhile receiving position computing module sends.
Described drive system module comprises cycle pulse distributor, power amplifier and stepper motor, cycle pulse distributor is from the controlled signal of control center's module and export corresponding pulses electric current to power amplifier, the pulse current that power amplifier sends cycle pulse distributor amplifies and carrys out Driving Stepping Motor running, and stepper motor drives car wheel to control travel direction and speed.
Electrical compass module of the present invention can detect terrestrial magnetic field direction by three built-in axle magnetoresistive transducers.Three axle magnetoresistive transducers can adopt three axle magnetoresistive transducer HMC5883LBY of Honeywell Inc..
Specific embodiments of the invention are as follows:
Shown in Fig. 2, dolly is from start position, and travel direction changes in the process of moving, and the coordinate when position computation module of dolly records travel direction change also calculates new position coordinates in real time.
The starting point coordinate of dolly is (0,0), and under the instruction of control center, dolly drives to J point, and the distance that starting point is ordered to J is 500mm, and the angle of the negative semiaxis of the direction that starting point is ordered to J and X-axis is 30 degree.With respect to starting point, the increment of coordinate in X, Y-direction is-433.01 and 250 to J point, and J point coordinate is (433.01,250).By that analogy, can calculate the coordinate of flex point K, M and the real-time coordinate of dolly.
Shown in Fig. 3, electrical compass module is to position computation module unidirectional delivery directional information, and position computation module is transmitted positional information to control center's module, and control center's module is to position computation module and drive system module transmitting control information.
Above-mentioned embodiment is used for the present invention that explains, instead of limits the invention, and in the protection domain of spirit of the present invention and claim, any amendment and change that the present invention is made, all fall into protection scope of the present invention.
Claims (3)
1. the intelligent carriage walking positioning method based on electronic compass, intelligent carriage comprises electrical compass module, drive system module, position computation module and control center's module, is characterized in that the method specifically comprises:
Electrical compass module obtains the travel direction information that records dolly and is converted into direction signal and sends position computation module to; Control center's module is sent signal to drive system module, controls car wheel and travels; The position that the control signal of travelling of the direction signal of the electrical compass module that position computation module is obtained by reception and control center's module is carried out counting of carriers positions, and dolly positional information is transferred to control center's module:
In described position computation module, the position location Calculation of dolly is specifically adopted to following methods:
1) calculate traveling distance: when dolly is during along certain direction running, the number of turns of the wheel outside surface girth of dolly and vehicle wheel rotation is multiplied each other and obtains the traveling distance of dolly in this direction;
2), taking the starting point of dolly as initial point, taking the positive axis direction as X-axis eastwards, taking the positive axis direction as Y-axis northwards, build plane coordinate system by initial point, X-axis and Y-axis;
Dolly, from starting point along a direction running, obtains the increment of coordinate of dolly with respect to initial point with the angle of X, Y-axis respectively according to the downward traveling distance of the party and this direction, obtains coordinate J;
When changing direction, dolly travels along other direction, obtain dolly at upwards new increment of coordinate of the party with the angle of X, Y-axis respectively according to travel distance and this direction of this direction, new increment of coordinate is added at the coordinate J changing before direction and obtains new coordinate K, repeat to obtain the real time position of dolly with this.
2. a kind of intelligent carriage walking positioning method based on electronic compass according to claim 1, it is characterized in that: described electrical compass module obtains the travel direction information of dolly by detecting terrestrial magnetic field direction, and is converted to the direction signal of digital signal.
3. a kind of intelligent carriage walking positioning method based on electronic compass according to claim 1, is characterized in that: the pulse signal that the number of turns of the vehicle wheel rotation in described step 1) is sent by control center's module and the parameter of stepper motor obtain.
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| CN201410319367.XA CN104049635A (en) | 2014-07-07 | 2014-07-07 | Intelligent car walking positioning method based on electronic compass |
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Cited By (4)
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| CN105300375A (en) * | 2015-09-29 | 2016-02-03 | 塔米智能科技（北京）有限公司 | Robot indoor positioning and navigation method based on single vision |
| CN109916403A (en) * | 2017-12-13 | 2019-06-21 | 华中科技大学 | A kind of device and method pinpoint in short-term for AGV trolley |
| CN110162037A (en) * | 2019-04-30 | 2019-08-23 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of prediction technique of vehicle itself track |
| CN113280835A (en) * | 2021-05-20 | 2021-08-20 | 北京智慧图科技有限责任公司 | Indoor positioning correction method based on path planning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105300375A (en) * | 2015-09-29 | 2016-02-03 | 塔米智能科技（北京）有限公司 | Robot indoor positioning and navigation method based on single vision |
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| CN110162037A (en) * | 2019-04-30 | 2019-08-23 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of prediction technique of vehicle itself track |
| CN110162037B (en) * | 2019-04-30 | 2022-07-26 | 惠州市德赛西威智能交通技术研究院有限公司 | Method for predicting track of vehicle |
| CN113280835A (en) * | 2021-05-20 | 2021-08-20 | 北京智慧图科技有限责任公司 | Indoor positioning correction method based on path planning |
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Application publication date: 20140917 |