CN102385069A - Positioning device, system and method - Google Patents
Positioning device, system and method Download PDFInfo
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- CN102385069A CN102385069A CN2010102709739A CN201010270973A CN102385069A CN 102385069 A CN102385069 A CN 102385069A CN 2010102709739 A CN2010102709739 A CN 2010102709739A CN 201010270973 A CN201010270973 A CN 201010270973A CN 102385069 A CN102385069 A CN 102385069A
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Abstract
The invention discloses a positioning device, which comprises a coil array, an inductive reactance detecting unit and a positioning unit. The coil array comprises M lines and N rows coils, the M and the N are both natural numbers, and the inductive reactance detecting unit is used for detecting inductive reactance of each coil in the coil array. The positioning unit is used for judging whether inductive reactance of each coil in the coil array changes or not. If the inductive reactance of one coil in the coil array changes, the fact that a positioning label exists in a positioning area where the coil array is located can be determined, and accordingly the position of the positioning label can be determined according to the position of the coil which has changed inductive reactance. The positioning device has the advantages of being simple in structure, low in cost, long in service life, high in accuracy and speed, small in influence by environment and the like. Besides, the invention further discloses a positioning system and a method which are high in accuracy and low in influence by the environment.
Description
Technical field
The present invention relates to location technology, particularly a kind of locating device, system and localization method.
Background technology
At present, various location technologies be widely used in indoor navigation, stage location, and a plurality of fields such as storage administration in.The location technology of main flow mainly comprises wireless location technology, vision localization technology and sensor location technology.
Wireless location technology specifically comprises the multiple location technologies such as WiFi location of infrared ray location, ultrasonic locating, RF identification (RFID) location, purple honeybee (ZigBee) location and WLAN.Wherein, higher setting accuracy can be realized in the infrared ray location, but is difficult to identification to measurand.Ultrasonic locating can realize higher setting accuracy and can realize multiple goal identification, but have under the mist environment or situation that measurand is capped under its application will be restricted.RFID uses the location location and the identification of netting theory realization measurand, but its setting accuracy has only about 1 meter.The ZigBee technology is widely used in positioning field, its setting accuracy also have only about 50 centimetres.And the setting accuracy of WiFi location is especially greater than 1 meter.
Vision localization technology is caught image through charge coupled cell (CCD) or CMOS camera and the image of catching is handled location and the identification that realizes measurand.Usually, the vision localization technology can obtain higher setting accuracy, but its application also will be restricted under the situation that measurand is capped.
The sensor location technology can utilize microswitch, infrared sensing switch or vibration transducer to realize the location.Though, can obtain the higher positional information of degree of accuracy through the sensor location technology, owing to be difficult to distinguish the difference of object to be detected through the sensor location technology, so can't accomplish the identification of measurand.
Summary of the invention
In view of the existing problem of existing various localization methods, embodiments of the invention provide a kind of locating device, system and localization method respectively, not only can realize the location that degree of accuracy is higher, and receive the influence of environment very little.
The locating device that the embodiment of the invention provides comprises:
A coil array comprises the capable N alignment of M circle, and wherein, M and N are natural number;
An induction reactance detecting unit is used for detecting the induction reactance of said each coil of coil array; And,
A positioning unit; Be used for judging whether the induction reactance of said each coil of coil array changes; If the induction reactance of a coil changes in the said coil array; Then confirm to have a positioning label in the locating area at said coil array place, and the position of said positioning label is confirmed in the position of the coil that changes according to said induction reactance.
In locating device in accordance with a preferred embodiment of the present invention, said positioning unit is further used for according to the said positioning label of relation recognition between the induction reactance variation of the magnetic permeability of preset positioning label and/or geometric configuration and coil.
The positioning system that the embodiment of the invention provides comprises:
At least one positioning label; And,
Locating device according to the above embodiment of the present invention.
The localization method that the embodiment of the invention provides comprises:
For each coil in the capable N alignment of the M coil array is connected alternating current;
Detect the induction reactance of each coil in the said coil array; And,
Whether the induction reactance of judging each coil in the said coil array changes; If the induction reactance of a coil changes in the said coil array; Then confirm to have a positioning label in the locating area at said coil array place, and the position of said positioning label is confirmed in the position of the coil that changes according to said induction reactance.
In localization method in accordance with a preferred embodiment of the present invention, further comprise: according to the said positioning label of relation recognition between the induction reactance variation of the magnetic permeability of preset positioning label and/or geometric configuration and coil.
That described locating device of the embodiment of the invention and system have is simple in structure, cost is low, long service life, speed is fast and characteristics such as little affected by environment.The described localization method of the embodiment of the invention has that cost is low, speed is fast and characteristics such as little affected by environment.In addition, because the setting accuracy of the targeting scheme that the embodiment of the invention provided depends on the loop density of coil array, therefore, can realize the location that degree of accuracy is higher at low cost.
Description of drawings
Fig. 1 has shown the synoptic diagram that when alternating current flows, on the conductor near coil, induces eddy current in coil;
The inner structure synoptic diagram of the locating device that Fig. 2 provides for the embodiment of the invention;
The synoptic diagram of the positioning system that Fig. 3 provides for the embodiment of the invention;
Fig. 4 is the inner structure synoptic diagram of the induction reactance detection module in one embodiment of the invention;
The process flow diagram of the localization method that Fig. 5 provides for the embodiment of the invention.
Embodiment
When the magnetic field that conductor is placed variation or conductor move in changeless magnetic field, will produce induction current on the conductor.This induction current is closed on conductor, is called eddy current.In like manner, when alternating current when a coil midstream is moving because the effect of electromagnetic induction, the magnetic field that in coil, produces will induce eddy current on the conductor near coil.Further, the amplitude of the eddy current that on conductor, induces and phase place will influence the induction reactance of coil conversely.Fig. 1 has shown the synoptic diagram that when alternating current flows, on the conductor near coil, induces eddy current in coil.As can beappreciated from fig. 1, when alternating current flows, induce eddy current 13 on the conductor 12 near coil 11 in coil 11, and the amplitude of eddy current 13 and phase place will influence the induction reactance of coil 11 conversely.
In addition, through discovering, exist multiple factor can influence the eddy current that on conductor, induces, wherein topmost factor comprises the geometric configuration of the magnetic permeability and the conductor of conductor.Also promptly, the conductor that has different magnetic permeabilities and/or a geometric configuration will induce different eddy current in the magnetic field that changes.Wherein, present the direct proportion linear relationship between the eddy current that induces on the magnetic permeability of conductor and the conductor, the magnetic permeability of conductor is big more, and the eddy current that induces on the conductor will be big more.
Based on above-mentioned result of study, the invention provides a kind of targeting scheme based on vortex theory, the induction reactance through magnetic test coil changes in the locating area of judging the coil place whether have conductor, and completion is to the location of conductor.Further, the targeting scheme that the embodiment of the invention provides also can derive the characteristic of conductor according to the variation of coil induction reactance, for example magnetic permeability and geometric configuration etc., thus accomplish identification to conductor.
Particularly, embodiments of the invention provide a kind of location of vortex theory realization measurand and locating device of identification of utilizing.Fig. 2 has shown the inner structure synoptic diagram of the described locating device of the embodiment of the invention.As shown in Figure 2, the described locating device of the embodiment of the invention comprises: coil array 21, induction reactance detecting unit 22 and positioning unit 23.
Wherein, coil array 21 comprises the capable N alignment of M circle, and M and N are natural number.The size of the number of coil and each coil can decide according to requirements such as the size of bearing accuracy, locating area, locating device and positioning times in the coil array 21.For example, the big more bearing accuracy of the size of coil will be poor more, and the many more positioned area of the number of coil will be big more, and the size of coil is bigger, the size of the many more locating devices of number also can be big more.
Induction reactance detecting unit 22 is used for the induction reactance of magnetic test coil array 21 each coil.
Positioning unit 23 is used for the testing result according to induction reactance detecting unit 22; Whether change whether there is positioning label in the locating area of judging coil array 21 place through the induction reactance of judging each coil in the coil array 21; And the position of definite positioning label, thereby location measurand.Whether the induction reactance of promptly judging each coil in the coil array 21 changes; If the induction reactance of a coil changes in the coil array 21; There is a positioning label in the locating area at then definite coil array 21 places; And the position of the coil that changes according to induction reactance confirms the position of positioning label, thus the location measurand.
Further, positioning unit 23 can also be used for the variation identification positioning label according to coil induction reactance.
Because have only conductor in the magnetic field that changes, to produce eddy current, therefore, in an embodiment of the present invention, above-mentioned positioning label is processed by conductor.In order to locate and discern different measurands, can make conductor with different magnetic permeabilities and/or different geometries positioning label, and positioning label is positioned on the measurand as measurand.Like this; When the measurand of carrying positioning label moves in the locating area at coil array 21 place; Positioning unit 23 can be according to the testing result of induction reactance detecting unit 22; Induction reactance through judging one or more coils in the coil array 21 changes, and confirms the existence of positioning label and each positioning label of location positioning of the coil that changes according to induction reactance, also promptly locatees measurand.Further; Because under the situation that the magnetic permeability and/or the geometric configuration of positioning label are confirmed; The variation of the caused coil induction reactance of eddy effect is also confirmed; Therefore; Relation between the induction reactance that can set up magnetic permeability and/or the geometric configuration and the caused coil of this label of each positioning label in advance changes, positioning unit 23 just can identify each corresponding positioning label according to the induction reactance variation of some in above-mentioned relation and the coil array 21 or several coils like this, thereby discerns each measurand.
Fig. 3 has shown the synoptic diagram of the positioning system that the embodiment of the invention provides, and comprises above-mentioned locating device and a plurality of positioning label in this positioning system.As shown in Figure 3; Suppose that locating device comprises 6 row, 6 row totally 36 coils; Hypothesis has three testees to need the location simultaneously, so can be in advance puts into copper, iron, three kinds of metal film positioning labels of aluminium or derby positioning label in the bottom of three testees of needs location.Like this, when these three testees get in the locating area at coil array place of locating devices, in their each nearer coils, will produce eddy effect, and then cause the induction reactance of these coils to change.The variation of this induction reactance is positioned after positioning unit 23 in the device detects, and just can confirm the position of each testee through the position of each coil.Further, because the material of the entrained positioning label of three testees is different, have different magnetic permeabilities, therefore, the eddy current that on these three positioning labels, produces changes different, and then near the induction reactance of the coil these three positioning labels changes also different.Therefore, the difference that positioning unit 23 can also further change through induction reactance is distinguished different positioning labels, promptly accomplishes the identification of each testee.
In one embodiment of the invention, induction reactance detecting unit 22 can comprise that M takes advantage of N induction reactance detection module 31, and each induction reactance detection module 31 is a coil in connecting coil arrays 21 respectively, is used to detect the induction reactance of its coil that connects.Adopt such embodiment, induction reactance detecting unit 22 is the induction reactance of each coil in the magnetic test coil array 21 concurrently, thereby can improve the locating speed of locating device widely, saves positioning time.
In another embodiment of the present invention, in order to practice thrift the cost of locating device, induction reactance detecting unit 22 can only comprise an induction reactance detection module 31, and further comprises a multi-way switch 32.Wherein, induction reactance detection module 31 is through multi-way switch 32 each coil in the connecting coil array 21 one by one, and the induction reactance of each coil in the magnetic test coil array 21 one by one.
In the specific implementation; Magnetic test coil induction reactance the most directly and fundamental method be exactly the voltage or the electric current of magnetic test coil; At this moment, induction reactance detection module 31 can be through detecting the voltage at its coil two ends that connect, or through detecting the induction reactance that electric current on its coil that connects detects this coil.After 22 detections of induction reactance detecting unit obtain the voltage or electric current of each coil in the coil array 21; Whether positioning unit 23 can change whether there is measurand in the locating area of judging coil array 21 places according to the voltage of each coil in the coil array 21 or electric current; If there is measurand, the location positioning measurand of the coil that then changes according to voltage or electric current.Further; Can set up the magnetic permeability of each positioning label and/or the relation between geometric configuration and caused coil voltage of this positioning label or the change in current in advance; Positioning unit 23 just can come the identification positioning label according to voltage or change in current on this relation and the coil like this, thus the identification measurand.
As stated, the fundamental method of magnetic test coil induction reactance is voltage, the electric current of magnetic test coil, but, complex structure high based on the detection mode cost of voltage, electric current and speed are slow.For this reason, another embodiment of the present invention provides a kind of embodiment of induction reactance detection module 31, and the principle of this embodiment is that coil is inserted in the oscillatory circuit as an inductance; This oscillatory circuit has a natural frequency, when measurand exists, because eddy effect; The induction reactance of coil will change; Cause the natural frequency of oscillatory circuit to change, therefore, can accomplish the location of measurand through the variation that detects the oscillatory circuit natural frequency.In addition, according to above-mentioned explanation, because the eddy effect that the conductor of different magnetic permeabilities and/or geometric configuration produces is different, it is different to cause the induction reactance of coil to change, and then causes the variation of natural frequency of oscillatory circuit also different.Therefore, can be further discern measurand according to the variation of oscillatory circuit natural frequency and the magnetic permeability of conductor and/or the relation of geometric configuration.Particularly; Induction reactance detection module 31 can comprise oscillation module 41 and frequency detection module 42; Wherein, the coil of oscillation module 41 in coil array 21 constitutes an oscillatory circuit, and frequency detection module 42 is used to detect the natural frequency of this oscillatory circuit.Positioning unit 23 judges whether the natural frequency of each coil place oscillatory circuit in the coil array 21 changes; If the natural frequency of at least one coil place oscillatory circuit changes; Then confirm to have measurand in the locating area at coil array 21 places, and the location positioning measurand of the coil that oscillatory circuit comprised that changes according to natural frequency.Further, positioning unit 23 can also be according to the magnetic permeability of positioning label and/or the relation recognition measurand of geometric configuration on the variation of oscillatory circuit natural frequency and the measurand.。
Particularly, above-mentioned oscillatory circuit can be a capacitance three-point type sine wave oscillation circuit that utilizes capacitance three-point type sine-wave oscillation principle to build.Fig. 4 has shown oscillation module 41 and the inner structure synoptic diagram of frequency detection module 42 in one embodiment of the invention.As shown in Figure 4; The coil 11 of oscillation module 41 in coil array 21 constitutes Colpitts oscillation circuit (being called colpitts feedback sinusoidal oscillator again); Comprise capacitor C 1, C2, resistance R 1, R2, triode A1 and voltage source V CC, its oscillation circuit is made up of coil 11 (also being inductance), capacitor C 1, C2 and triode A1.Frequency detection module 42 can comprise comparer 51 sum counters 52.Wherein, the sine wave that comparer 51 is exported said oscillatory circuit through waveform transformation becomes square wave, and method to be detected is input to counter 52; The square-wave pulse of 52 pairs of comparers of counter, 51 outputs is counted, to obtain the natural frequency of said oscillatory circuit.
Can find out that from the foregoing description that locating device that the embodiment of the invention provided and system have is simple in structure, cost is low, long service life and characteristics such as little affected by environment.The setting accuracy of said locating device of the embodiment of the invention and system depends on the density of coil in the coil array, therefore, can realize the higher location of degree of accuracy (even reaching 1 centimetre) at low cost.In addition, have the positioning label of different magnetic permeabilities and/or different geometries, on the basis of realizing positioning function, can also realize the measurand recognition function through design.For example; Not only can design the positioning label of forming by different metallic such as copper, steel, aluminium and titanium etc.; The all right further geometric configuration of Design Orientation label; Can increase the positioning label number of detected object so widely, thereby increase the number of the measurand that can discern simultaneously and locate.In addition, can choose the positioning label of the bigger metal of magnetic permeability difference, detect required degree of accuracy, shorten the required time of location greatly simultaneously, realize the quick location and the identification of measurand thereby reduce induction reactance as measurand.Generally speaking, the locating device that the embodiment of the invention provided is compared with vision localization with wireless location with system, has less advantage affected by environment; And compare with the sensor location, on the basis of realizing positioning function, can also further realize the recognition function of measurand.
Need to prove that in addition in the specific implementation, the positioning unit in the said locating device of the embodiment of the invention can be integrated in locating device inside, also can place locating device outside and for example be integrated in other treatment facilities such as computing machine.If positioning unit places locating device outside, then positioning unit can through wireline interface for example the induction reactance detecting unit of RS232 interface or wave point and locating device communicate.
Corresponding above-mentioned locating device, embodiments of the invention also provide a kind of localization method, and this localization method has that cost is low, degree of accuracy is high, speed is fast and characteristics such as little affected by environment.The localization method that the embodiment of the invention provided is as shown in Figure 5, comprising:
Step 101: for each coil in the capable N alignment of the M coil array is connected alternating current;
Step 102: the induction reactance that detects each coil;
Step 103: whether the induction reactance of judging each coil changes; If the induction reactance of one or more coils changes; Then confirm to have measurand in the locating area at coil array place, and the location positioning measurand of the coil that changes according to induction reactance.
Said method can further include: the induction reactance according to coil changes the identification measurand.
As previously mentioned, the induction reactance that voltage that can be through detecting each coil two ends or the electric current on it detect each coil.In addition, can also coil be inserted an oscillatory circuit, the induction reactance of the natural frequency magnetic test coil through detecting this oscillatory circuit.At this moment, step 101 can comprise: each coil in the coil array is inserted an oscillatory circuit.In step 102, can detect the induction reactance of each coil through the natural frequency that detects each coil place oscillatory circuit.In step 103, whether change whether there is measurand near judging this coil through the natural frequency of judging each coil place oscillatory circuit, and according to the location positioning measurand of this coil.Further, can also belong to the variation identification measurand of the natural frequency of oscillatory circuit according to this coil.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. locating device comprises:
A coil array (21) comprises the capable N alignment of M circle, and wherein, M and N are natural number;
An induction reactance detecting unit (22) is used for detecting the induction reactance of each coil of said coil array (21); And,
A positioning unit (23); Be used for judging whether the induction reactance of each coil of said coil array (21) changes; If the induction reactance of a coil changes in the said coil array (21); Then confirm to have a positioning label in the locating area at said coil array (21) place, and the position of said positioning label is confirmed in the position of the coil that changes according to said induction reactance.
2. locating device according to claim 1 is characterized in that, said induction reactance detecting unit (22) comprising:
M takes advantage of N induction reactance detection module (31), and each induction reactance detection module (31) connects a coil in the said coil array (21) respectively, is used to detect the induction reactance of its coil that connects.
3. locating device according to claim 1 is characterized in that, said induction reactance detecting unit (22) comprising:
A multi-way switch (32); And,
An induction reactance detection module (31) connects each coil in the said coil array (21) one by one through said multi-way switch (32), is used for detecting one by one the induction reactance of each coil of said coil array (21).
4. according to claim 2 or 3 described locating devices, it is characterized in that said induction reactance detection module (31) comprising:
An oscillation module (41), the coil that is connected with said induction reactance detection module (31) constitutes oscillatory circuit; And,
A frequency detection module (42) is used to detect the natural frequency of said oscillatory circuit;
Said positioning unit (23) is used for judging according to the variation of the natural frequency of said oscillatory circuit whether the induction reactance of each coil of said coil array (21) changes.
5. locating device according to claim 4 is characterized in that,
Said oscillatory circuit is the capacitance three-point type sine wave oscillation circuit.
6. locating device according to claim 5 is characterized in that, said frequency detection module (42) comprising:
A comparer (51) is used for becoming square wave through the sine wave that waveform transformation is exported said oscillatory circuit; And,
A counter (52) is used for the square-wave pulse of said comparer (51) output is counted, to obtain the natural frequency of said oscillatory circuit.
7. according to the arbitrary described locating device of claim 1 to 3, it is characterized in that,
Said positioning unit (23) is further used for according to the said positioning label of relation recognition between the induction reactance variation of the magnetic permeability of preset positioning label and/or geometric configuration and coil.
8. positioning system comprises:
At least one positioning label; And,
According to the arbitrary described locating device of claim 1 to 7.
9. positioning system according to claim 8 is characterized in that,
Said positioning label is processed by conductor.
10. localization method comprises:
For each coil in the capable N alignment of the M coil array is connected alternating current;
Detect the induction reactance of each coil in the said coil array; And,
Whether the induction reactance of judging each coil in the said coil array changes; If the induction reactance of a coil changes in the said coil array; Then confirm to have a positioning label in the locating area at said coil array place, and the position of said positioning label is confirmed in the position of the coil that changes according to said induction reactance.
11. method according to claim 10 is characterized in that,
Connecting alternating current for each coil in the capable N alignment of the M coil array comprises: each coil in the said coil array is inserted an oscillatory circuit;
The induction reactance that detects each coil in the said coil array comprises: the natural frequency that detects each coil place oscillatory circuit in the said coil array; And,
Whether the induction reactance of judging each coil in the said coil array changes and comprise: whether the natural frequency of judging each coil place oscillatory circuit in the said coil array changes.
12. according to claim 10 or 11 described localization methods, it is characterized in that, further comprise:
According to the said positioning label of relation recognition between the induction reactance variation of the magnetic permeability of preset positioning label and/or geometric configuration and coil.
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| CN2010102709739A CN102385069A (en) | 2010-08-31 | 2010-08-31 | Positioning device, system and method |
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| CN2010102709739A CN102385069A (en) | 2010-08-31 | 2010-08-31 | Positioning device, system and method |
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| CN109549750A (en) * | 2018-12-12 | 2019-04-02 | 广州翼鲲生物科技有限公司 | A kind of hoof bath apparatus and its control method |
| CN110103739A (en) * | 2019-04-18 | 2019-08-09 | 南京航空航天大学 | Weak magnetic field excitation three-winding detection device |
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Application publication date: 20120321 |