CN109459022A - It is a kind of can free array combination novel magnetic navigation alignment sensor - Google Patents
It is a kind of can free array combination novel magnetic navigation alignment sensor Download PDFInfo
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- CN109459022A CN109459022A CN201711085796.5A CN201711085796A CN109459022A CN 109459022 A CN109459022 A CN 109459022A CN 201711085796 A CN201711085796 A CN 201711085796A CN 109459022 A CN109459022 A CN 109459022A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0094—Sensor arrays
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
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Abstract
The present invention relates to it is a kind of can free array combination novel magnetic navigation alignment sensor, category AGV positioning and navigation field.For the present invention for the defect and limitation of AGV magnetic navigation alignment sensor in existing market, devising one kind can be according to application demand, the novel magnetic navigation alignment sensor device of free array combination, while having both navigation and positioning function.The present invention is based on multiple magnetic strength MI sensors being equally spaced to obtain spatial magnetic field in real time, Distribution of Magnetic Field data are handled by fuzzy algorithmic approach, peak-seeking algorithm and deblurring algorithm, to obtain projection coordinate of the magnetic carrier geometric center on magnetic navigation alignment sensor, the coordinate and sensor mounting height and the magnetic carrier magnetic field character degree of coupling are lower, precise position data foundation needed for can be used as navigation and positioning.
Description
Technical field
The present invention relates to it is a kind of can free array combination novel magnetic navigation alignment sensor, be exactly that AGV is being adopted
Related key navigator fix device when being positioned with magnetic navigation.Belong to automated guided vehicle (AGV) magnetic navigation positioning field.
Background technique
Magnetic navigation in automated guided vehicle AGV (Automated Guided Vehicle) is automatic Material Handling System
Important component, be that logistics system realizes one of automation, mobile handling unit of core of intelligent flexible.It is logical
The relative coordinate that magnetic navigation alignment sensor obtains the magnetic carrier relative magnetic permeability boat sensor of navigation or basis on location is crossed, and is combined
As navigation or the absolute coordinate of the magnetic carrier of basis on location, the navigation or positioning to AGV are realized.
Traditional magnetic navigation AGV generallys use magnetic stripe as guiding foundation, and magnetic markers detect magnetic stripe as basis on location
Guiding sensor and detect magnetic markers alignment sensor, by detected magnetic carrier (magnetic stripe, magnetic markers) magnetic field it is strong
Degree and Distribution of Magnetic Field are different, are often designed as two individual devices for different magnetic carriers, and to the mounting height of sensor
There are hard constraints with magnetic carrier magnetic field character.This is unfavorable for the mass production of magnetic navigation alignment sensor, and restricts magnetic conductance
The applicability and ease for use under different application scene of boat alignment sensor.
Domestic magnetic navigation alignment sensor at present, or magnetic resistance (MR) sensor is used, or use Hall sensor conduct
Magnetic field strength Sampling device, such as the Chinese patent that China Patent Publication No. is CN105180927A disclose a kind of magnetic navigation biography
Sensor, since, as magnetic field strength Sampling device, in practical applications, therefore Hall sensor can magnetize using Hall sensor
Influence, cause induction sensitivity and accuracy to reduce.Therefore user in use, needs device to do and adjusts and mark again
It is fixed, it gets to navigation and is expected.And the one-dimensional width of the sensor heavy dependence and detected control magnetic field, to setting angle
There are hard constraints with magnetic carrier magnetic field shape.The navigation of different magnetic field shape carrier can not be adapted to, it is high-precision it is even more impossible to obtain
Location information.
For another example a kind of mixed type magnetic track pin sensor disclosed in the Chinese patent of Publication No. CN100405084, equally
There is a problem of same and due to as magnetic field strength Sampling device, playing navigation identification only with two magnetic resistance (MR) sensors
Precision depends critically upon detection faces magnetic field strength, not can accurately reflect the location information of this carrier.
Summary of the invention
For the present invention for the defect and limitation of existing AGV magnetic navigation alignment sensor in market, devising one kind can be free
The novel magnetic navigation alignment sensor device of array combination has both navigation and positioning function, and can be according to different application demand certainly
By the novel magnetic navigation alignment sensor of array combination.
One kind of the present invention can free array combination novel magnetic navigation alignment sensor technic relization scheme it is as follows: magnetic conductance
The alignment sensor that navigates includes signal acquisition unit (1), data processing unit (2), signal output unit (3), signal acquisition unit
(1) data transmission will be acquired to data processing unit (2), be transmitted to signal output unit again after data processing unit (2) processing
(3), signal output unit (3) exports location information；
The free array combination is the sensor group by one or more sensors according to application scenarios independent assortment；It passes
Sensor group is connected in parallel with signal acquisition unit (1)；
The signal acquisition unit (1) includes that no less than 9 magnetic strength (MI) sensors (4), magnetic strength (MI) sensor is mutual
Between have and being equally spaced no more than 10mm, magnetic strength (MI) sensor carries out data using SPI and data processing unit (2)
Interaction；
The data processing unit (2) is made of MCU or DSP, which is responsible for obtaining magnetic carrier geometry
Projection coordinate of the center on magnetic navigation alignment sensor；
The signal output unit (3) uses but is not limited to CAN bus, 485 buses, 232 serial communication interfaces.
Specific steps include:
S01: initialization and configuration；
S02: timing acquiring magnetic field data；
S03: data processing；
S04: navigation positioning data is exported by communications protocol.
It is described can free array combination refer to the one-dimensional distribution that single-sensor can be detected space magnetic field along sensor；According to
The difference of practical application request is arranged by the array combination free in different directions of one or more sensors group
Detect that space magnetic field is one-dimensional or Two dimensional Distribution situation, to acquire the projection coordinate of dimension needed for navigator fix.
The initialization and configuration step include:
S0101: according to the array combination deployment scenarios of magnetic navigation alignment sensor, each magnetic navigation alignment sensor is configured
Location parameter in array combination；
S0102: acquisition static-magnetic background data.
S0103: configuration parameter and magnetic background are saved.
The data processing unit, data processing step include:
S0301: the acquisition signal of each magnetic strength (MI) sensor (4) is done and subtracts button background process, due in magnetic background data
Include the static error to single magnetic strength (MI) device (4), therefore by subtracting button magnetic background, Sampling device one can be effectively eliminated
System deviation caused by cause property.
S0302: doing Fuzzy processing to the acquisition signal of each magnetic strength (MI) sensor (4), sharpens magnetic field edge, matching is simultaneously
Identify different magnetic carrier magnetic field boundaries.
S0303: corresponding in magnetic field boundaries in the obtained magnetic carrier of S0302, the collected magnetic intensity vector of superposition institute,
De-fuzzy processing is done, the magnetic carrier space magnetic field intensity distribution of discretization is obtained.
S0304: in the obtained discretization magnetic field distribution of S0303, using peak-seeking algorithm, magnetic carrier center is obtained
The projection coordinate of the dimension shown in magnetic navigation alignment sensor (group).
The single-sensor (5) provides and determines for navigating by detecting space magnetic field along the one-dimensional distribution of sensor
Projection coordinate of the magnetic carrier center of position in sensor one-dimensional square.
The multiple sensor group (6) by detection space magnetic field sensor group (6) constituted plane Two dimensional Distribution,
And provide projection coordinate of the magnetic carrier center in sensor group (6) plane for navigator fix.
The magnetic carrier is magnetic stripe (7) or magnetic markers (8).
The present invention using can free array combination design, single-sensor can be detected the one-dimensional distribution of space magnetic field, root
According to application demand, is arranged by the array combination free in different directions of multiple sensor groups, can be detected space magnetic field
Then two dimension or even distributed in three dimensions situation based on real-time using the spatial magnetic field obtained, are calculated by fuzzy algorithmic approach, peak-seeking
Method and deblurring algorithm handle Distribution of Magnetic Field data, to obtain magnetic carrier geometric center on magnetic navigation alignment sensor
Projection coordinate, the coordinate and sensor mounting height and the magnetic carrier magnetic field character degree of coupling are lower, can be used as navigation and positioning
Required precise position data foundation.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is work step flow chart of the invention；
Fig. 3 is configuration and initialization step flow chart of the invention；
Fig. 4 is data processing step flow chart of the invention；
Fig. 5 is single-sensor navigation principle schematic diagram of the invention
Fig. 6 is multisensor array navigation principle schematic diagram of the invention；
Fig. 7 is multisensor array positioning principle schematic diagram of the invention；
Fig. 8 is a kind of magnetic markers navigation positioning embodiment schematic diagram of the invention；
Fig. 9 is a kind of magnetic stripe navigation magnetic markers coding positioning embodiment schematic diagram of the invention；
In figure: 1-signal acquisition unit；2-data processing units；3-signal output units；4-magnetic strengths (MI) sensing
Device；5-single-sensors；6-multiple sensor groups；7-magnetic stripes；8-magnetic markers.
Specific embodiment
Below with reference to the embodiment content that the present invention is further explained, embodiment herein is only limited and is used to explain the present invention,
It is not intended to limit the present invention.Based on technical thought of the invention, those of ordinary skill in the art are without departing from the invention
The embodiment for the non-creative several modifications and improvements done under the premise of design, this should be protection scope of the present invention.
One kind of the present invention can free array combination novel magnetic navigation alignment sensor as shown in Figure 1, by signal acquisition list
Member 1, data processing unit 2, signal output unit 3 are constituted.The free array combination refers to by one or more sensors root
The sensor group being freely combined according to application scenarios.Wherein, signal acquisition unit 1 includes no less than 9 magnetic strength MI sensors 4, no
Less than being equally spaced for 5mm, magnetic strength MI sensor 4 carries out data interaction using SPI and data processing unit 2；Data processing
Unit 2 is made of MCU or DSP, which is mainly responsible for the throwing for obtaining magnetic carrier geometric center on magnetic navigation alignment sensor
Shadow coordinate；Signal output unit uses but is not limited to the communication interfaces such as CAN bus, 485 buses, 232 serial ports.
Work step process of the present invention is as shown in Figure 2:
S01: initialization and configuration；
S02: timing acquiring magnetic field data；
S03: data processing；
S04: navigation positioning data is exported by communications protocol.
The present invention using can free array combination design, single-sensor can be detected space magnetic field along the one-dimensional of sensor
Distribution, as shown in figure 5, and according to the difference of practical application request, in different directions by one or more sensors group
Free array combination arrangement, can be detected that space magnetic field is one-dimensional or Two dimensional Distribution situation, to obtain dimension needed for navigator fix
Projection coordinate, as shown in Fig. 6 Fig. 7.
Configuration of the present invention and initialization S01 step are as shown in Figure 3:
S0101: according to the array combination deployment scenarios of magnetic navigation alignment sensor, each magnetic navigation alignment sensor is configured
Location parameter in array combination；
S0102: acquisition static-magnetic background data.
S0103: configuration parameter and magnetic background are saved.
1. data processing unit of the present invention, data processing S03 step is as shown in Figure 4:
S0301: doing the acquisition signal of each magnetic strength MI sensor and subtract button background process, due to having included in magnetic background data
To the static error of single magnetic strength MI device, therefore by subtracting button magnetic background, can also effectively eliminate since Sampling device is consistent
System deviation caused by property.
S0302: Fuzzy processing is done to the acquisition signal of each magnetic strength MI sensor, magnetic field edge is sharpened, matches and identify
Different magnetic carrier magnetic field boundaries.
S0303: corresponding in magnetic field boundaries in the obtained magnetic carrier of S0302, the collected magnetic intensity vector of superposition institute,
De-fuzzy processing is done, the magnetic carrier space magnetic field intensity distribution of discretization is obtained.
S0304: in the obtained discretization magnetic field distribution of S0303, using peak-seeking algorithm, magnetic carrier center is obtained
The projection coordinate of the dimension shown in magnetic navigation alignment sensor group.
Embodiment 1:
As shown in figure 8, when magnetic navigation alignment sensor of the present invention is positioned for magnetic markers navigation, in magnetic navigation AGV
Magnetic markers are equally spaced on guide path.Magnetic navigation alignment sensor is divided into two groups of one-dimensional arrays, is respectively arranged the vehicle in AGV
Head and the tailstock, its spacing L is identical as magnetic markers spacing, to ensure that AGV walks along guide path, the distance of every traveling L, and front and back two
Group magnetic navigation alignment sensor can be detected simultaneously by magnetic markers.The length S and spacing L of magnetic navigation alignment sensor group are determined
The maximum turning drift angle that guide path allows.
AGV onboard system is according to itself walking encoder data and turns to encoder data, carries out to the current location AGV real
When estimate, when AGV it is every by two magnetic markers when, magnetic navigation alignment sensor can be passed through and obtain AGV reference point relative track
The location coordinate information of nail eliminates cumulative errors to correct estimation coordinate.
Magnetic navigation positional parameter needed for AGV onboard system are as follows:
The deviation distance that reference point, that is, central point positions line between magnetic markers according to two: Δ χ；
The drift angle of line between vehicle body and two Positioning magnetic nails: α.
Sensor group length S and sensor group spacing L is as configuration parameter it is known that therefore, it is very easy to passing through magnetic markers
The center One Dimensional Projection coordinate X1 in two sensor groups respectively, parameter needed for X2 calculates onboard system:
Δ χ=(X1+X2)/2；
α=atan ((X1-X2)/L)；
In the present embodiment, AGV can also carry inertial guidance system, and the navigation positioning modules such as GPS positioning system realize mixing
Guiding, to further promote the precision of AGV navigator fix.
Embodiment 2:
As shown in figure 9, magnetic navigation alignment sensor of the present invention can also be used in magnetic stripe and the hybrid navigation of magnetic markers is fixed
Position.In the present embodiment, magnetic stripe is used for route guidance, and one group 3 × 3 of magnetic markers two-dimensional array is for encoding positioning.Wherein, single
A magnetic markers, to sensor or N pole-face to two kinds of arrangements of sensor, realize that the mark of coding 0 and 1 is distinguished by S pole-face.
Magnetic navigation AGV advances along magnetic stripe guide path, and magnetic navigation alignment sensor Real-time Feedback guides magnetic stripe in sensor
One Dimensional Projection coordinate d in group, the navigation foundation as AGV.Meanwhile magnetic navigation alignment sensor is detecting magnetic markers two dimension
When array, two-dimensional projection coordinate x of the Real-time Feedback magnetic markers array center in sensor group, y and magnetic markers two-dimensional array
Encoded information, the basis on location as AGV.
512 kinds of codings at most can be achieved, for identifying different anchor point information in 3 × 3 magnetic markers two-dimensional array.Such as
Required identification information is more than 512, then can arrange bigger sensor by the number of magnetic markers in increase magnetic markers two-dimensional array
Array group is navigated and is positioned.
Claims (9)
1. one kind can free array combination novel magnetic navigation alignment sensor, which is characterized in that magnetic navigation alignment sensor packet
Signal acquisition unit (1), data processing unit (2), signal output unit (3) are included, signal acquisition unit (1) will acquire data and pass
It is sent to data processing unit (2), is transmitted to signal output unit (3), signal output unit again after data processing unit (2) processing
(3) location information is exported；
The free array combination is the sensor group by one or more sensors according to application scenarios independent assortment；
The signal acquisition unit (1) includes that no less than 9 magnetic strength (MI) sensors (4), magnetic strength (MI) sensor is mutual
With being equally spaced no more than 10mm, magnetic strength (MI) sensor carries out data friendship using SPI and data processing unit (2)
Mutually；
The data processing unit (2) is made of MCU or DSP, which is responsible for obtaining magnetic carrier geometric center
Projection coordinate on magnetic navigation alignment sensor；
The signal output unit (3) uses but is not limited to CAN bus, 485 buses, 232 serial communication interfaces.
2. one kind according to claim 1 can free array combination novel magnetic navigation alignment sensor, which is characterized in that
Signal acquisition unit (1) specific steps include:
S01: initialization and configuration；
S02: timing acquiring magnetic field data；
S03: data processing；
S04: navigation positioning data is exported by communications protocol.
3. one kind according to claim 1 can free array combination novel magnetic navigation alignment sensor, which is characterized in that
It is described can free array combination refer to the one-dimensional distribution that single-sensor can be detected space magnetic field along sensor；According to practical application
The difference of demand is arranged by the array combination free in different directions of one or more sensors group, can be detected space
Magnetic field is one-dimensional or Two dimensional Distribution situation, to acquire the projection coordinate of dimension needed for navigator fix.
4. one kind according to claim 2 can free array combination novel magnetic navigation alignment sensor, which is characterized in that
The initialization and configuration step include:
S0101: according to the array combination deployment scenarios of magnetic navigation alignment sensor, each magnetic navigation alignment sensor is configured in battle array
Location parameter in column combination；
S0102: acquisition static-magnetic background data；
S0103: configuration parameter and magnetic background are saved.
5. one kind according to claim 2 can free array combination novel magnetic navigation alignment sensor, which is characterized in that
The data processing unit (2), data processing step include:
S0301: doing the acquisition signal of each magnetic strength (MI) sensor (4) and subtract button background process, due to having wrapped in magnetic background data
Containing the static error to single magnetic strength (MI) device (4), therefore by subtracting button magnetic background, Sampling device consistency can be effectively eliminated
Caused system deviation；
S0302: Fuzzy processing is done to the acquisition signal of each magnetic strength (MI) sensor (4), magnetic field edge is sharpened, matches and identify
Different magnetic carrier magnetic field boundaries；
S0303: corresponding in magnetic field boundaries in the obtained magnetic carrier of S0302, and the collected magnetic intensity vector of superposition institute is gone
Fuzzy processing obtains the magnetic carrier space magnetic field intensity distribution of discretization；
S0304: in the obtained discretization magnetic field distribution of S0303, using peak-seeking algorithm, magnetic carrier center is obtained in magnetic
The projection coordinate of dimension shown in navigator fix sensor (group).
6. one kind according to claim 1 or 2 can free array combination novel magnetic navigation alignment sensor, feature exists
In the single-sensor (5) provides the magnetic for navigator fix by detecting space magnetic field along the one-dimensional distribution of sensor
Projection coordinate of the carrier center in sensor one-dimensional square.
7. one kind according to claim 1 or 2 can free array combination novel magnetic navigation alignment sensor, feature exists
In the multiple sensor group (6) is given by detecting space magnetic field in the Two dimensional Distribution of sensor group (6) constituted plane
Projection coordinate for the magnetic carrier center of navigator fix in sensor group (6) plane out.
8. one kind described in claim 1 or 3 can free array combination novel magnetic navigation alignment sensor, which is characterized in that
Magnetic carrier is magnetic stripe (7) or magnetic markers (8).
9. one kind as claimed in claim 4 can free array combination novel magnetic navigation alignment sensor, which is characterized in that magnetic carry
Body is magnetic stripe (7) or magnetic markers (8).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020200051A1 (en) * | 2019-03-29 | 2020-10-08 | 西人马（厦门）科技有限公司 | Vehicle positioning method and system |
| CN112000091A (en) * | 2020-07-10 | 2020-11-27 | 深圳技术大学 | Novel urban rail road |
| RU2808125C1 (en) * | 2023-04-20 | 2023-11-23 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Magnetometric complex for navigation of objects in space |
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