CN101531200A - Induction type guided way based on hall transducer - Google Patents
Induction type guided way based on hall transducer Download PDFInfo
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- CN101531200A CN101531200A CN200810034589A CN200810034589A CN101531200A CN 101531200 A CN101531200 A CN 101531200A CN 200810034589 A CN200810034589 A CN 200810034589A CN 200810034589 A CN200810034589 A CN 200810034589A CN 101531200 A CN101531200 A CN 101531200A
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Abstract
The invention discloses an induction type guided way based on hall transducer, which is used for controlling a steering travelling part of a vehicle travelling mechanism and comprises an induction lead shallowly buried under the ground, a transducer box installed on the vehicle travelling mechanism and above the induction lead, a conditioning circuit used for processing the output voltage of the transducer box, an A/D converter connected with the output of the conditioning circuit and a digital servo drive system used for receiving an output signal from the A/D converter. The digital servo drive system is used for controlling the steering travelling part to move along the direction of the laid induction lead. The guided way does not affect the running of other mixed running vehicles, generates no electromagnetic interference to the outside and no damage to the health of human and realizes contactless vehicle guide.
Description
Technical field
The present invention relates to a kind of guided way, relate in particular to a kind of induction type guided way based on Hall sensor.
Technical background
In the prior art, the control of the sense of motion of carrier vehicle has various ways such as steerable wheel flutter, ground rail circuit, guided way.There is being multiple vehicle to mix on the highway that runs, be many then with steerable track adjusting wheel, be track circuit on a small quantity with the road surface coplane, as incity, city tramway train, the automatic driving vehicle of hightech, also occurred adopting the guidance mode of video processing technique in recent years, motion control mainly relies on the lane mark on the highway.
City railway train, the rubber tire train with cement beam and guide groove modern age also appearred more in the modern guidance modes that adopt the steel wheel rail.Can mix the ultralight rail train that runs with automobile, the guiding rubber-tired cart of an independent rail appears adopting again recently, it comes measurement of vehicle direction of motion and supply current is formed the return flow line with two track adjusting wheels with track angle at 45, pass through autonomous cruise speed system again, go Control Servo System, stir and turn to rubber tire, realize turning to control.Though this vehicle has been cancelled traditional steel rail line, reduced city noise and increased rubber tire and ground-surface adhesive capacity, but still formed certain broad slit on the road surface, the operation that mixes other vehicle that runs is brought certain stationarity influence.
Summary of the invention
The objective of the invention is to overcome the defective of prior art, and a kind of induction type guided way based on Hall sensor is provided, it has realized contactless vehicle guidance.
The technical scheme that realizes above-mentioned purpose is: a kind of induction type guided way based on Hall sensor, what be used for the control vehicle traveling gear turns to traveling portion, wherein, it comprises that shallow embedding is in ground-surface sensor wire, be installed on the under-carriage and be positioned at the sensor box of sensor wire top, be used for modulate circuit that the output voltage of sensor box is handled, the A/D converter that links to each other with modulate circuit output, acceptance is from the digital servo drive system of the output signal of A/D converter, this digital servo drive system is used to control and turns to traveling portion so that it moves along the sensor wire direction of laying, wherein:
Described sensor wire is layed on original circuit, has the groove that can imbed for described sensor wire on this circuit, and described sensor wire is laid to a coil constituting an independent loop, and passes through DC power supply;
Be fixed with the sensitive member of ear suddenly of two different induced field intensity and polarity in the described sensor box, these two suddenly the ear sensitive member clamp by magnetic pole, this sensor box and sensor wire keep certain distance, and can be along the side direction horizontal displacement vertical with the laying direction of described sensor wire to produce deviation signal;
After described modulate circuit was handled the output voltage of sensor box, the signal of output reflection side travel was given described A/D converter;
After converting digital signal to, the signal that described A/D converter is exported modulate circuit is sent to the digital servo drive system;
What described Digital AC Fu was used for the automatic guidance under-carriage turns to traveling portion.
Above-mentioned induction type guided way based on Hall sensor, wherein, described modulate circuit comprises respectively and described two amplifier, the low-pass filter that links to each other with two amplifiers respectively that link to each other of ear sensitive member and the comparators that link to each other with this described two low-pass filters output suddenly.
Above-mentioned induction type guided way based on Hall sensor, wherein, described clamping suddenly the ear sensitive member magnetic pole by glass not alloy be overrided to form.
The above-mentioned induction type guided way based on Hall sensor, wherein, described sensor box is positioned at sensor wire top 15～20 centimeters.
The above-mentioned induction type guided way based on Hall sensor, wherein, the width of the coil that described sensor wire constituted is 100～400mm.
The above-mentioned induction type guided way based on Hall sensor, wherein, the described length that is layed in the coil that sensor wire constituted on the circuit is 500 meters.
The invention has the beneficial effects as follows: the present invention is by the electric signal of the hall sensor installed on the under-carriage, produce the deviation signal of vehicle on sensor wire, go control to turn to traveling portion by automatically controlled digital servo drive system again, it is moved along the sensor wire direction of being laid, produce the movement effects of similar track circuit.Owing to the ground of the road that induction type guided way is set is smooth, can influence other and mix the operation of running vehicle; Sensor wire adopts D.C. magnetic field to realize excitatory, can not produce electromagnetic interference to external world and to the damage of human health, realized contactless vehicle guidance, adopt this contactless guidance mode, also can be used to stand, the point-to-point in workshop or the guiding control of the transport vehicle of predetermined direction of travel is arranged.
Description of drawings
Fig. 1 is the principle schematic of the induction type guided way based on Hall sensor of the present invention;
Fig. 2 is signal condition of the present invention and servocontrol functional block diagram;
Fig. 3 a is that the present invention works as the magnetic flux distributions scheme drawing of sensor box when being positioned at the sensor wire midway location;
Fig. 3 b is that the present invention works as the magnetic flux distributions scheme drawing of sensor box when sensor wire one lateral deviation shifting movement;
Fig. 4 is the laying schematic diagram of sensor wire of the present invention;
Fig. 5 a is the intensity distribution of the vertical flux component of two-wire;
Fig. 5 b is the intensity distribution of the vertical flux component of single line.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
See also Fig. 1 to Fig. 5 b, there is shown a kind of induction type guided way of the present invention based on Hall sensor, what be used for control vehicle traveling gear (not shown) turns to traveling portion 6, it comprises that shallow embedding is in ground-surface sensor wire 1, be installed on the under-carriage and be positioned at the sensor box 2 of sensor wire 1 top, be used for modulate circuit 3 that the output voltage of sensor box 2 is handled, the A/D converter 4 that links to each other with modulate circuit 3 outputs, acceptance is from the digital servo drive system 5 of the output signal of A/D converter 4, this digital servo drive system 5 is used to control and turns to traveling portion 6 so that it moves along the sensor wire direction of laying, wherein:
Be fixed with the sensitive member of ear suddenly 21 of two different induced field intensity and polarity in the sensor box 2, these two suddenly ear sensitive member 21 by by the 1J79 glass not the magnetic pole 22 that is overrided to form of alloy clamp to measure by the magnetic field size in the magnetic pole 22, this sensor box 21 keeps certain distance with sensor wire 1, it is positioned at sensor wire 1 top 15～20 centimeters, and can be along the side direction horizontal displacement vertical with the laying direction of sensor wire 1 to produce deviation signal;
After the output voltage of 3 pairs of sensor boxes 2 of modulate circuit is handled, the signal of output reflection side travel is given A/D converter 4, and this modulate circuit 3 comprises respectively and two amplifiers 31 that link to each other of ear sensitive member 21, the low-pass filter 32 that links to each other with two amplifiers 31 respectively and export the comparator 33 that links to each other with this two low-pass filter 32 suddenly;
A/D converter 4 will be nursed one's health and be sent to digital servo drive system 5 after electric 3 tunnel signals of exporting convert digital signal to;
What Digital AC Fu 5 was used for the automatic guidance under-carriage turns to traveling portion 6.
Principle of work of the present invention: be connected with galvanic current stream in two parallel sensor wires 1, to produce D.C. magnetic field around it, suppose that direction as shown in Figure 1, when sensor box 2 is positioned at sensor wire 1 midway location, see shown in Fig. 1 left side, magnetic flux equal and opposite in direction in two sensor iron cores, polarity is opposite, sees Fig. 3 a.Equally, the output voltage in the Hall unit 21 also is an equal and opposite in direction, and polarity is opposite; If when sensor box 2 produces offset movement to a side of sensor wire 1, see Fig. 1 right side, the magnetic flow that passes in two sensor iron cores is unequal, and Hall unit 21 will produce different big or small output potentials, see Fig. 3 b.The displacement of sensor box 2 is big more, and the difference of the output voltage amplitude of two Hall units 21 is also big more, sensor box 2 reverse displacements, and then the output voltage of Hall unit 21 will produce opposite difference.
See also Fig. 2, the output voltage of the Hall unit 21 of sensor box 2, after voltage amplifier 31 and low-pass filter 32 filtering, summation and be processed into the current signal of 4-20mA in comparator 33, just can deliver to digital servo drive system 5 through A/D converter 4, be used for driving and turn to traveling portion 6 in the running mechanism.Signal polarity after the summation of Hall unit 21, reflection be exactly the skew of vehicle relative induction lead 1.
Because the irregularity in the magnetic field between two lines of sensor wire 1, the sensor iron core is non-linear in addition, the output voltage of Hall sensor and the relation of displacement, have certain non-linear, can after the A/D conversion, in digital servo drive system 5, add an anti-espionage function, make its linearization, write suitable corrective network function in the digital servo drive system 5, can make wheel obtain rapidity and all more excellent controller characteristic curve of stability.
See also Fig. 5 a and Fig. 5 b, visible paired cable can guarantee the homogeneity in the stack magnetic field in two lines with the adjusting sense of current among Fig. 5 a, and as seen, sensor wire 1 spacing is little from Fig. 5 a and Fig. 5 b, exciting current can reduce a lot, and the wide then exciting current of spacing is many greatly.Can determine spacing by test.
The present invention is by the electric signal of the Hall element installed on the vehicle running mechanism, produce the deviation signal of vehicle on sensor wire 1, go to stir by automatically controlled digital servo drive system 5 again and turn to running part 6, it is moved along sensor wire 1 direction of being laid, produce the movement effects of similar track circuit.
Below embodiment has been described in detail the present invention in conjunction with the accompanying drawings, and those skilled in the art can make the many variations example to the present invention according to the above description.Thereby some details among the embodiment should not constitute limitation of the invention, and the scope that the present invention will define with appended claims is as protection scope of the present invention.
Claims (6)
1. induction type guided way based on Hall sensor, what be used for the control vehicle traveling gear turns to traveling portion, it is characterized in that, it comprises that shallow embedding is in ground-surface sensor wire, be installed on the under-carriage and be positioned at the sensor box of sensor wire top, be used for modulate circuit that the output voltage of sensor box is handled, the A/D converter that links to each other with modulate circuit output, acceptance is from the digital servo drive system of the output signal of A/D converter, this digital servo drive system is used to control and turns to traveling portion so that it moves along the sensor wire direction of laying, wherein:
Described sensor wire is layed on original circuit, has the groove that can imbed for described sensor wire on this circuit, and described sensor wire is laid to a coil constituting an independent loop, and passes through DC power supply;
Be fixed with the sensitive member of ear suddenly of two different induced field intensity and polarity in the described sensor box, these two suddenly the ear sensitive member clamp by magnetic pole, this sensor box and sensor wire keep certain distance, and can be along the side direction horizontal displacement vertical with the laying direction of described sensor wire to produce deviation signal;
After described modulate circuit was handled the output voltage of sensor box, the signal of output reflection side travel was given described A/D converter;
After converting digital signal to, the signal that described A/D converter is exported modulate circuit is sent to the digital servo drive system;
What described Digital AC Fu was used for the automatic guidance under-carriage turns to traveling portion.
2. the induction type guided way based on Hall sensor according to claim 1, it is characterized in that described modulate circuit comprises respectively and described two amplifier, the low-pass filter that links to each other with two amplifiers respectively that link to each other of ear sensitive member and the comparators that link to each other with this described two low-pass filters output suddenly.
3. the induction type guided way based on Hall sensor according to claim 1 is characterized in that, described clamping suddenly the ear sensitive member magnetic pole by glass not alloy be overrided to form.
4. the induction type guided way based on Hall sensor according to claim 1 is characterized in that, described sensor box is positioned at sensor wire top 15～20 centimeters.
5. the induction type guided way based on Hall sensor according to claim 1 is characterized in that,
The width of the coil that described sensor wire constituted is 100～400mm.
6. the induction type guided way based on Hall sensor according to claim 1 is characterized in that, the described length that is layed in the coil that sensor wire constituted on the circuit is 500 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810034589A CN101531200A (en) | 2008-03-13 | 2008-03-13 | Induction type guided way based on hall transducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810034589A CN101531200A (en) | 2008-03-13 | 2008-03-13 | Induction type guided way based on hall transducer |
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| CN101531200A true CN101531200A (en) | 2009-09-16 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863334A (en) * | 2014-03-15 | 2014-06-18 | 西南交通大学 | Tramcar based on rubber wheel and virtual track technology |
| CN105329259A (en) * | 2015-12-10 | 2016-02-17 | 南车株洲电力机车有限公司 | Guiding device and guiding method of rail transit vehicle |
| CN110091887A (en) * | 2019-03-25 | 2019-08-06 | 四川国软科技发展有限责任公司 | A kind of rubber tire electric car bogie and rubber tire electric car system |
| CN110383359A (en) * | 2017-03-28 | 2019-10-25 | 爱知制钢株式会社 | Concentrator marker detection system and concentrator marker detection method |
| CN113551589A (en) * | 2021-01-06 | 2021-10-26 | 南京能晶电子科技有限公司 | Angle sensor chip based on Hall device and use method thereof |
| CN114771288A (en) * | 2022-06-16 | 2022-07-22 | 云南昆船电子设备有限公司 | Unmanned vehicle rapid transportation system |
-
2008
- 2008-03-13 CN CN200810034589A patent/CN101531200A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863334A (en) * | 2014-03-15 | 2014-06-18 | 西南交通大学 | Tramcar based on rubber wheel and virtual track technology |
| CN103863334B (en) * | 2014-03-15 | 2016-06-29 | 西南交通大学 | A kind of tramcar based on rubber wheel and virtual rail technology |
| CN105329259A (en) * | 2015-12-10 | 2016-02-17 | 南车株洲电力机车有限公司 | Guiding device and guiding method of rail transit vehicle |
| CN105329259B (en) * | 2015-12-10 | 2017-05-17 | 南车株洲电力机车有限公司 | Guiding device and guiding method of rail transit vehicle |
| CN110383359A (en) * | 2017-03-28 | 2019-10-25 | 爱知制钢株式会社 | Concentrator marker detection system and concentrator marker detection method |
| CN110383359B (en) * | 2017-03-28 | 2022-03-15 | 爱知制钢株式会社 | Marker detection system and marker detection method |
| CN110091887A (en) * | 2019-03-25 | 2019-08-06 | 四川国软科技发展有限责任公司 | A kind of rubber tire electric car bogie and rubber tire electric car system |
| CN110091887B (en) * | 2019-03-25 | 2023-09-26 | 四川国软科技集团有限公司 | Rubber-tyred trolley truck and rubber-tyred trolley system |
| CN113551589A (en) * | 2021-01-06 | 2021-10-26 | 南京能晶电子科技有限公司 | Angle sensor chip based on Hall device and use method thereof |
| CN114771288A (en) * | 2022-06-16 | 2022-07-22 | 云南昆船电子设备有限公司 | Unmanned vehicle rapid transportation system |
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Open date: 20090916 |