CN101387522A - Magnetic guide sensor - Google Patents
Magnetic guide sensor Download PDFInfo
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- CN101387522A CN101387522A CNA2008100508263A CN200810050826A CN101387522A CN 101387522 A CN101387522 A CN 101387522A CN A2008100508263 A CNA2008100508263 A CN A2008100508263A CN 200810050826 A CN200810050826 A CN 200810050826A CN 101387522 A CN101387522 A CN 101387522A
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Abstract
The invention relates to a magnetic guide sensor for guide the detection of an automated guided vehicle (AGV) in the field of logistics. In the magnetic guide sensor, n (more than two) magnetic detection elements from k1 to kn are parallelly distributed at equal intervals on the inside bottom of a shell of the sensor; positioning magnetic detection elements are positioned on two ends of the inside bottom of the shell of the sensor; environmental detection elements are arranged on the side walls of the two ends in the shell of the sensor; a treatment circuit is positioned in the middle part in the shell of the sensor; and the upper end face of the shell of the sensor is provided with a signal interface which is connected with the treatment circuit. The invention provides a magnetic guide sensor which can detect guide tapes with different polarities, strengths and widths, can adjust sensibility and has the functions of temperature compensation and environment disturbing magnetic field compensation and the positioning function. The magnetic guide sensor can be applied to various AGVs with different demands; and the application of the environmental detection elements eliminates interference fields around the magnetic guide sensor or disturbing magnetic fields generated by self metal and ferromagnetic objects of the AGV.
Description
Invention field:
The present invention relates to a kind of magnetic guide sensor that logistics field automatic guided vehicle (AGV) guiding detects that can be used for.
Background technology:
Homing guidance dolly AGV (Automated Guided Vehicle) is a kind of automated material haulage equipment, it have automaticity height, applying flexible, safe and reliable, unattended, construction is simple and plurality of advantages such as easy to maintenance, thereby is widely used in goods and materials transportation places such as auto manufacturing, tobacco business, construction machinery industry, airport.
At present, the guide mode that is used for logistics field automatic guided vehicle (AGV) has electromagnetism guiding, optical navigation, laser guidance, ultrasound waveguide to regard it as and magnetic guidance etc.Though every kind of guide mode can both reach guide function separately, and relative merits are separately all arranged.The basic thought of magnetic guidance method is to lay a path with magnetic field such as tape etc. on the path of AGV operation, utilization is installed in the position relation that magnetic guide sensor on the AGV detects AGV and magnetic-path, walks along the path that sets in advance to adjust AGV.The range of operation of magnetic guidance is big, and the ground expense is lower, sets up change route ratio and is easier to, the not influence of vulnerable to pollution thing, the tape of laying do not have timeliness and change good stability, be fit to very much the often occasion of change of plant configuration or assemble flow, therefore most widely used in AGV.
Because the practical characteristics that magnetic guidance had, so magnetic guide sensor is a research focus in the AGV technology.
" research of magnetic sensor-based system in the outdoor mobile robot navigation " of rolling up the 1st phase " robot " in 2007 the 29th has introduced the selection principle of magnetic nail material, shape and size in the outdoor mobile robot magnetic navigation system.On the basis of analyzing various Magnetic Sensor characteristics, select the detecting element of HMC1022 type magnetoresistive transducer as magnetic signal.Utilize 13 magnetoresistive transducers, formed the magnetic scale that is used to detect magnetic nail magnetic field.Magnetic scale is installed on the vehicle front bumper higher position, ground relatively, has solved the lower problem of setting height(from bottom) when using Hall element etc. and carrying out magnetic navigation.Proposed a kind of improved sequence algorithm, the ratio according to adjacent sensors segments the interval by setting threshold, thereby has obtained more accurate magnetic orientation result.Experiment show improve the accurate measurement characteristics of sequence algorithm.The magnetic measurement sensor of this report can be measured big distance, but use the cylindrical magnetic nail of diameter 2.5cm, long 2.5cm NdFeB material, require remanent magnetism 14 (kGs) size big, path of navigation is installed difficulty, and use the temperature effect of magnetoresistive transducer key not consider, do not have the environmental magnetic field signal compensation, in the stronger occasion of environmental magnetic field, its application is restricted.
For satisfying the needs of mechanical engineering and robotization specialty experiment teaching, developed magnetic guidance AGV experimental provision in " laboratory study and exploration " the 3rd phase in March, 2005 " magnetic guidance AGV Experimental Device ".General structure, guidance principle, control system and the software of this device have been introduced.Its magnetic guide sensor is a Magnetic Sensor of putting two symmetries, difference channel output, output signal is single, and do not consider temperature compensation, influence reliability, subsequent process circuit is exported in its simulation has increased difficulty, does not have the environmental magnetic field signal compensation, in the stronger occasion of environmental magnetic field, its application is restricted.
ZL94232045.X disclosed " automatic guided vehicle magnetic navigation sensor ", adopt saturation coil to detect tape magnetic field, its deficiency is to S direction under the N in the magnetic direction requirement, there is not temperature compensation, influence reliability, subsequent process circuit is exported in its simulation has increased difficulty, though applied for patent, does not form product always.
ZL02824893.7 disclosed " automatic driving vehicle guidance system and method ", employing mistors etc. are as detecting element, 2 detecting element axes intersect of its main claim are on vehicle guide point, assembling is difficulty, and need the configuration steering controller, complex structure, and the semiconductor detecting element do not taked the temperature compensation measure, directly influence accuracy of detection.
Now on the market, can buy several magnetic guide sensors of MACOME company, its model is the magnetic guide sensor of GS-1919, GS-2744B simulation output and the output of SW1924 numeral and the SMR-2352 that the N utmost point is detected and SMR-2352S that the S utmost point is detected etc.The magnetic guide sensor of MACOME company becomes series, substantially satisfy the needs of magnetic guidance, but it detects principle is to adopt inductive coil, the coiling trouble, assembling coherence request height, thereby cause price higher, and MACOME series magnetic guide sensor do not take the temperature compensation measure, cause output signal, the easy temperature influence of accuracy of detection; MACOME series magnetic guidance does not have the environmental magnetic field signal compensation in circuit, in the stronger occasion of environmental magnetic field, its application is restricted.
Summary of the invention:
Purpose of the present invention just is to overcome above-mentioned the deficiencies in the prior art, especially disclose and can detect opposed polarity, varying strength, different in width guiding tape, sensitivity is adjustable and the magnetic guide sensor that has temperature compensation, environmental interference field compensation and have positioning function.
Magnetic guide sensor of the present invention is realized by the following method:
Magnetic guide sensor is to be made of n+4 magnetic detecting element and related circuit.Magnetic detecting element k (k1～kn) be arranged in parallel; be used to detect the Magnetic Field of tape 14 on AGV operating path ground 15 of being laid in; 2 location magnetic detecting elements 11 are used to detect the start-stop or the turning branch road information of the corresponding start-stop position of AGV operation, and 2 environment magnetic detecting elements 10 are used to detect the disturbing magnetic field that interference field around the magnetic guide sensor or the metal of AGV own and ferromagnetic object thereof produce.Magnetic detecting element among the present invention can adopt the integrated semiconductor magnetosensitive device, and for example integrated hall device, mistor or magnetodiode all can serve as magnetic detecting element of the present invention.The output signal of n+4 magnetic detecting element is given the k1～kn of operational amplifier separately, carries out signal and amplifies.Give compensating circuit 3 through n magnetic detecting element k1～kn and 2 environment magnetic detecting element 10 signals of amplifying, compensating circuit 3 receives the signal of n magnetic detecting element k1～kn and 2 environment magnetic detecting element 10 signals and detector unit 7 and handles, in the signal of n magnetic detecting element k1～kn, deduct the signal of environment magnetic detecting element 10 signals and detector unit 7, with the influence of the influence of eliminating environmental magnetic field and temperature to the semiconductor magnetic detecting element.The elimination that compensating circuit is sent the influence of environmental magnetic field and a Temperature Influence n signal handle by translation circuit 4, translation circuit 4 is reconciled by sensitivity adjusting 8 potentiometers simultaneously, and forms digital signal output 5 and simulating signal output 6.Opposed polarity tape signal of the present invention detects and adopts the mode that changes magnetic detecting element power supply polarity to realize.
The present invention can also descend mode to realize: on the basis that does not change detecting element and sensitivity adjusting element, compensating circuit 3 and translation circuit 4 are realized by Single Chip Microcomputer (SCM) system 22, and are comprised serial communication 21 outputs.
Power supply 9 provides different voltages to detecting element and other circuit supply.
Magnetic guide sensor is to be arranged in parallel by two above magnetic detecting element k1～kn n to equidistantly distribute the bottom surface that places sensor outer housing 18 inside, the responsive axis of magnetic detecting element k1～kn is vertical with the bottom surface of sensor outer housing 18, location magnetic detecting element 11 places the two ends of sensor outer housing 18 inner bottom surface, responsive axis is vertical with the bottom surface of sensor outer housing 18, environment magnetic detecting element 10 places on the sidewall at sensor outer housing 18 inner two ends, treatment circuit 17 places the middle part in the sensor outer housing 18, the upper surface of sensor outer housing 18 is provided with signaling interface 16, and signaling interface 16 is connected with treatment circuit 17.
The magnetic guide sensor processing is the output connection operational amplifier k1～kn separately by the magnetic detecting element of n in the circuit, operational amplifier k1～kn is connected to compensating circuit 3,2 environment magnetic detecting elements 10 are connected to compensating circuit 3 through operational amplifier A, location magnetic detecting element 11 is connected to translation circuit 4 through operational amplifier B, compensating circuit 3 is connected to translation circuit 4, detector unit 7 is connected to compensating circuit 3, sensitivity adjusting 8 is connected to translation circuit 4, and translation circuit 4 connects signal output 5 and connection mode analog signal output 6.
The output of magnetic guide sensor treatment circuit or n magnetic detecting element of employing connects operational amplifier k1～kn separately, operational amplifier k1～kn is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22,2 environment magnetic detecting elements 10 are connected to multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 through operational amplifier A, location magnetic detecting element 11 is connected to multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 through operational amplifier B, detector unit 7 is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22, sensitivity adjusting 8 is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22, multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 is connected to the single-chip microcomputer 13 in the Single Chip Microcomputer (SCM) system 22, and numeral output 19 and simulation output 20 serial communications 21 are connected to the single-chip microcomputer 13 in the Single Chip Microcomputer (SCM) system 22.
Beneficial effect: magnetic guide sensor is the critical component among the magnetic guidance AGV, adopts n magnetic detecting element that magnetic guide sensor of the present invention can be applied among the AGV of various different needs; The disturbing magnetic field that interference field around the magnetic guide sensor or AGV metal own and ferromagnetic object thereof produce has been eliminated in the use of environment magnetic detecting element; The location magnetic detecting element makes to be controlled more flexible at design AGV operating path and AGV; The magnetic detecting element factor that easily is acted upon by temperature changes has been eliminated in the use of detector unit; Sensitivity adjusting has increased magnetic guide sensor dirigibility in use; Digital signal output and simulating signal output adapt to the needs of AGV control circuit.
Description of drawings
Fig. 1 is that magnetic guide sensor detects ground tape synoptic diagram
Fig. 2 is the magnetic guide sensor circuit block diagram
Fig. 3 is another kind of magnetic guide sensor circuit block diagram
Fig. 4 is the resistor network of environmental magnetic field signal and temperature compensation signal addition
Fig. 5 detects opposed polarity tape signal feed circuit synoptic diagram
K, k1～kn tape detecting element, a1～an, A, B amplifier, 3 compensating circuits, 4 translation circuits, 5 digital output circuits, 6 analog output circuits, 7 detector unit R
T, 8 sensitivity adjusting, 9 power circuits, 10 environment magnetic detecting elements, 11 location magnetic detecting elements, 12 analog to digital conversion, 13 single-chip microcomputers, 14 tapes, 15 ground, 16 signaling interfaces, 17 treatment circuits, 18 sensor outer housings, 19 numeral outputs, 20 simulation outputs, 21 serial communications, 22 Single Chip Microcomputer (SCM) system, 23 magnetic nail, K double-point double-throw switch.
Embodiment:
The present invention is described in further detail below in conjunction with drawings and Examples:
Magnetic guide sensor is to be arranged in parallel by two above magnetic detecting element k1～kn n to equidistantly distribute the bottom surface that places sensor outer housing 18 inside, the responsive axis of magnetic detecting element k1～kn is vertical with the bottom surface of sensor outer housing 18, location magnetic detecting element 11 places the two ends of sensor outer housing 18 inner bottom surface, responsive axis is vertical with the bottom surface of sensor outer housing 18, environment magnetic detecting element 10 places on the sidewall at sensor outer housing 18 inner two ends, treatment circuit 17 places the middle part in the sensor outer housing 18, the upper surface of sensor outer housing 18 is provided with signaling interface 16, and signaling interface 16 is connected with treatment circuit 17.
The magnetic guide sensor processing is the output connection operational amplifier k1～kn separately by the magnetic detecting element of n in the circuit, operational amplifier k1～kn is connected to compensating circuit 3,2 environment magnetic detecting elements 10 are connected to compensating circuit 3 through operational amplifier A, location magnetic detecting element 11 is connected to translation circuit 4 through operational amplifier B, compensating circuit 3 is connected to translation circuit 4, detector unit 7 is connected to compensating circuit 3, sensitivity adjusting 8 is connected to translation circuit 4, and translation circuit 4 connects signal output 5 and connection mode analog signal output 6.
The output of magnetic guide sensor treatment circuit or n magnetic detecting element of employing connects operational amplifier k1～kn separately, operational amplifier k1～kn is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22,2 environment magnetic detecting elements 10 are connected to multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 through operational amplifier A, location magnetic detecting element 11 is connected to multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 through operational amplifier B, detector unit 7 is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22, sensitivity adjusting 8 is connected to the multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22, multichannel analog to digital conversion 12 in the Single Chip Microcomputer (SCM) system 22 is connected to the single-chip microcomputer 13 in the Single Chip Microcomputer (SCM) system 22, and numeral output 19 and simulation output 20 serial communications 21 are connected to the single-chip microcomputer 13 in the Single Chip Microcomputer (SCM) system 22.
Embodiment 1:
Magnetic guide sensor mainly is made of the treatment circuit 17 that is installed in sensor outer housing 18 inside, environment magnetic detecting element 10, location magnetic detecting element 11 and tape detecting element k1～kn, and they are installed on the circuit board.The quantity n of tape detecting element is provided with according to the magnetic field intensity of the width of detected tape and tape, and tape is wide, the high quantity that is provided with of the magnetic field intensity of tape just can reduce.Tape detecting element k1～kn is installed in parallel in the bottom side of sensor outer housing 18 inside, and location magnetic detecting element 11 is installed in the two ends of the bottom side of sensor outer housing 18 inside, and their responsive axis is vertical with the bottom surface of sensor outer housing 18; Environment magnetic detecting element 10 is installed in the top at sensor outer housing 18 inner two ends, the lateral vertical of responsive axis and sensor outer housing 18.Above-mentioned detecting element can adopt the integrated semiconductor magnetosensitive device, and for example integrated hall device, mistor or magnetodiode adopt integrated hall device in the present embodiment.Integrated hall device has multiple models such as linearity, switch output, and adopting the hall device model in the present embodiment is HE82A.
Magnetic detecting element corresponding amplifier a1～an, A are the typical operation amplifiers in the current techique, and the detected field signal of hall device is amplified, and its output signal is connected respectively in the compensating circuit 3 inverting input of compensator-amplifier unit separately; The signal of environment magnetic detecting element 10 behind amplifier B, by resistance R 4, R5, R6 dividing potential drop, and with the RT of detector unit 7 and resistance signal R1, R2, R3 combination addition after, give the in-phase input end of each compensator-amplifier unit simultaneously; The output of each compensator-amplifier unit be exactly to have deducted the environmental magnetic field signal and the signal of the real guiding tape of the magnetic detecting element characteristic variations that causes by temperature variation.
Power circuit provides different voltages to detecting element and other circuit supply.Can change the power supply polarity of magnetic detecting element by the K switch of feed circuit, realize detection opposed polarity tape field signal.
Embodiment 2:
Magnetic guide sensor mainly is made of the treatment circuit 17 that is installed in sensor outer housing 18 inside, environment magnetic detecting element 10, location magnetic detecting element 11 and tape detecting element k1～kn, and they are installed on the circuit board.The quantity n of tape detecting element is provided with according to the magnetic field intensity of the width of detected tape and tape, and tape is wide, the high quantity that is provided with of the magnetic field intensity of tape just can reduce.Tape detecting element k1～kn is installed in parallel in the bottom side of sensor outer housing 18 inside, and location magnetic detecting element 11 is installed in the two ends of the bottom side of sensor outer housing 18 inside, and their responsive axis is vertical with the bottom surface of sensor outer housing 18; Environment magnetic detecting element 10 is installed in the top at sensor outer housing 18 inner two ends, the lateral vertical of responsive axis and sensor outer housing 18.Above-mentioned detecting element can adopt the integrated semiconductor magnetosensitive device, and for example integrated hall device, mistor or magnetodiode adopt integrated hall device in the present embodiment.Integrated hall device has multiple models such as linearity, switch output, and adopting the hall device model in the present embodiment is HE82A.
Magnetic detecting element corresponding amplifier a1～an, A, B are the typical operation amplifiers in the current techique in the present embodiment, the detected field signal of hall device is amplified, the signal of its output signal and detector unit 7, sensitivity adjusting 8 potentiometers is all given the multichannel analog to digital converter 12 in the Single Chip Microcomputer (SCM) system 22, convert digital quantity to, give the processing of subtracting each other among the single-chip microcomputer 13 realization embodiment 1, realize numeral output 19 and simulate output 20 by Single Chip Microcomputer (SCM) system 22.Owing to used Single Chip Microcomputer (SCM) system 22, single-chip microcomputer 13 adopts ms430f149.The output of Single Chip Microcomputer (SCM) system 22 also comprises the serial output of data, RS232 interface or the USB interface and the RS485 interface of serial output employing standard.
Claims (3)
1. magnetic guide sensor, by it is characterized in that: be that (k1～kn) individual being arranged in parallel of n equidistantly distributes the bottom surface that places sensor outer housing (18) inner by two above magnetic detecting elements, (the responsive axis of k1～kn) is vertical with the bottom surface of sensor outer housing (18) for magnetic detecting element, location magnetic detecting element (11) places the two ends of sensor outer housing (18) inner bottom surface, responsive axis is vertical with the bottom surface of sensor outer housing (18), environment magnetic detecting element (10) places on the sidewall at the inner two ends of sensor outer housing (18), treatment circuit (17) places the middle part in the sensor outer housing (18), the upper surface of sensor outer housing (18) is provided with signaling interface (16), and signaling interface (16) is connected with treatment circuit (17).
2. according to right 1 described magnetic guide sensor, it is characterized in that: the output of n magnetic detecting element connects separately operational amplifier (k1～kn) in the treatment circuit, (k1～kn) is connected to compensating circuit (3) to operational amplifier, 2 environment magnetic detecting elements (10) are connected to compensating circuit (3) through operational amplifier (A), location magnetic detecting element (11) is connected to translation circuit (4) through operational amplifier (B), compensating circuit (3) is connected to translation circuit (4), detector unit (7) is connected to compensating circuit (3), sensitivity adjusting (8) is connected to translation circuit (4), and translation circuit (4) connects signal output (5) and connection mode analog signal output (6).
3. according to right 1 described magnetic guide sensor, it is characterized in that: separately operational amplifier of treatment circuit or the output connection of adopting n magnetic detecting element (k1～kn), (k1～kn) is connected to the multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22) to operational amplifier, 2 environment magnetic detecting elements (10) are connected to multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22) through operational amplifier (A), location magnetic detecting element (11) is connected to multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22) through operational amplifier (B), detector unit (7) is connected to the multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22), sensitivity adjusting (8) is connected to the multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22), multichannel analog to digital conversion (12) in the Single Chip Microcomputer (SCM) system (22) is connected to the single-chip microcomputer (13) in the Single Chip Microcomputer (SCM) system (22), and numeral output (19) and simulation output (20) serial communication (21) are connected to the single-chip microcomputer (13) in the Single Chip Microcomputer (SCM) system (22).
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| CN2008100508263A CN101387522B (en) | 2008-09-02 | 2008-09-02 | Magnetic guide sensor |
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| CN2008100508263A CN101387522B (en) | 2008-09-02 | 2008-09-02 | Magnetic guide sensor |
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| CN101387522B CN101387522B (en) | 2011-04-27 |
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| CN101937063A (en) * | 2010-08-11 | 2011-01-05 | 上海腾怡半导体有限公司 | Magnetic field sensor |
| CN102147259A (en) * | 2011-01-14 | 2011-08-10 | 南京航空航天大学 | Ring array magnetic guidance device and method for identifying guidance magnetic label thereof |
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| CN106873594A (en) * | 2017-03-08 | 2017-06-20 | 苏州易摩物联科技有限公司 | AGV magnetic navigations progress control method and system |
| CN109062199A (en) * | 2018-07-03 | 2018-12-21 | 厦门大学嘉庚学院 | Magnetic navigation sensor system and its control method |
| CN109062199B (en) * | 2018-07-03 | 2021-04-27 | 厦门大学嘉庚学院 | Magnetic navigation sensor system and control method thereof |
| CN110940907A (en) * | 2018-09-24 | 2020-03-31 | 台湾积体电路制造股份有限公司 | Semiconductor wafer test system |
| CN109460034A (en) * | 2018-12-18 | 2019-03-12 | 云南昆船智能装备有限公司 | A kind of composite magnetic band electromagnetism AGV guidance system device and method |
| WO2020135137A1 (en) * | 2018-12-29 | 2020-07-02 | 江苏多维科技有限公司 | Magnetic navigation sensor and magnetic navigation system |
| CN113076910A (en) * | 2021-04-16 | 2021-07-06 | 河南六米电子科技有限公司 | AGV trolley magnetic tape interferent detection method and system based on artificial intelligence |
| CN113076910B (en) * | 2021-04-16 | 2022-12-13 | 陕西恒拓创诚科技有限公司 | AGV trolley magnetic tape interferent detection method and system based on artificial intelligence |
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