CN103234564A - Positioning method and positioning system based on two-dimensional magnetic codes - Google Patents
Positioning method and positioning system based on two-dimensional magnetic codes Download PDFInfo
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Abstract
The invention discloses a positioning method and a positioning system based on two-dimensional magnetic codes. Carrier guiding is performed by adopting a magnetic tape with periodically changing magnetic field strength, and positioning is performed by adopting the two-dimensional codes with the magnetic tape. Since only one position is determined by a two-dimensional coding block, and the position can be further adopted as a base point to perform positioning among nodes, entire amount of calculation is greatly reduced, error accumulation is reduced, positioning accuracy is improved, and accurately positioning is guaranteed.
Description
Technical field
The present invention relates to a kind of localization method and positioning system of using the magnetic coding techniques.
Background technology
In the operation of flooring, as factory floor etc., carrier (automatic guided vehicle etc.) determines that himself position in the operation plane is the basis of automated job.In response to the requirement that this carrier is determined at operation plane median, generally adopt localization method.Currently there is a multiple location technology, mainly contains following three kinds of localization methods:
First kind of localization method: RFID(Radio Frequency Identification, REID, be radio frequency identification or electronic tag again) location technology, by burying the RFID label underground in the pre-position, ground, at carrier card reader is installed, by the position judgment of card reader to the RFID label, determine the positional information of carrier on the operation plane.
Second kind of localization method: inertial positioning technology, the inertial positioning technology is successfully applied to military affairs the earliest, by speed, acceleration and angular transducer, the control system of carrier can calculate current location with respect to distance and the direction of reference position, thereby determines that self is with respect to the positional information of starting point.
The third localization method: wireless location technology, at carrier wireless launcher is installed, detector is installed in the space, the specific electromagnetic wave that the emitter that is installed on the carrier is launched, a plurality of detectors in the space resolve it, determine poor, angle of arrival time of arrival each other.Utilize geometric relationship to calculate the position of emitting antenna, thereby calculate carrier position on the ground.
Above-mentioned three kinds of localization methods are all used, as the WiFi wireless location technology in practice to some extent in conjunction with specific applied environment.But all there is following shortcoming:
Shortcoming 1:RFID uses in location technology, is generally passive RFID, exists the location response time longer, and generally once waking up needs about 100ms, has limited the travelling speed of carrier; And bearing accuracy is relatively poor, generally greater than 100mm.Though solved above-mentioned shortcoming to a certain extent for active RFID, label is more loaded down with trivial details, cost is higher owing to lay, and makes it not possess actuality in operation place in a big way.
Shortcoming 2: though the inertial positioning technology can realize high orientation precision, cost is very high, is not suitable for the not high generality of positioning accuracy request is used.
Shortcoming 3: though wireless location technology has advantage flexible for installation, but bearing accuracy is relatively poor, as the wireless location technology of WiFi in conjunction with RFID, bearing accuracy is generally more than 1000mm, high-precision private radio location product, as the impulse radio electricity, cost is very high, is not suitable for the not high generality of positioning accuracy request is used.
China CN102192699A discloses a kind of non-contact type inductor, the description that it is more detailed utilize the detecting device of magnetic stripe and configuration to carry out the judgement of carrier position, speed, counting or abnormality, it discloses a kind of basic fixed position principle based on magnetic stripe technology.More specifically, referring to the 0040th section in its instructions, point out for N, S sign 0,1, thereby see certain information of section segment table that occurs continuously at 0 and 1 signal that the no carrier of no signal section representative passes through.In it is realized, after a certain detecting device detects 1 signal, represent this carrier and arrived the precalculated position, can carry out (or closing) next specific action; And calculate translational speed etc., the solution of proposition speed, position according to the mistiming between two 1 signals.
Above-mentioned CN102192699A adopts a magnetic stripe to realize that to the judgement as position, speed, counting or abnormality calculated amount is relatively big, the responding ability deficiency.The N of single magnetic stripe configuration, S magnetic pole are made relatively trouble, and cost is higher.Therefore, in the overwhelming majority who adopts the magnetic stripe location realizes, generally adopt the method that cooperates other locator meamss comprehensively to locate.
In as Chinese patent literature CN102661745A, a kind of navigate mode with magnetic stripe and the automatic walking robot of RFID label is disclosed, it adopts comprehensive localization method, inevitably can have the inherent shortcoming as the RFID localization method naturally.
Summary of the invention
Therefore, the objective of the invention is to provide on the one hand a kind of localization method simple and that encode based on two-dimentional magnetic reliably in the location, a kind of positioning system on the other hand of realizing.
The present invention is by the following technical solutions:
A kind of localization method based on two-dimentional magnetic coding according to one aspect of the present invention, the two-dimentional magnetic encoding block of sign corresponding node is set at the selected node of carrier predefined paths, and between the node in path, be laid on the periodically variable tape of magnetic field intensity on the path direction, correspondingly, be provided for detecting Hall element group and the treatment facility of Distribution of Magnetic Field on institute's operating path at carrier, thereby, carrier is guided based on periodically variable magnetic field when operation, serves as that the location benchmark is located to the carrier between next node for present node with the residing position of present node; Accordingly, determine absolute position under described base condition by cycle count on the tape and wavelength product between the node.
A kind of positioning system based on two codings according to another aspect of the present invention, be included in carrier operation predefined paths and select the two-dimentional magnetic encoding block that arranges on the node constitutes magnetic orbital with being connected described node according to the path tape, and be arranged on the Hall element group that magnetic medium on the path is identified on the carrier and the treatment facility that institute's identification signal is handled, thereby this treatment facility is exported the described carrier of control according to handled result and is positioned in conjunction with tape along the operation of described path and the position demarcated according to two-dimentional magnetic encoding block; Wherein, described tape is formed by magnetic medium block periodicity array and has the magnetic field that the intensity cycle changes on path direction.
From such scheme as can be seen, according to the present invention, employing has the periodically variable tape of magnetic field intensity and carries out the guiding of carrier, position and adopt the two-dimensional encoded agllutination of magnetic to close tape, determined a position because these two encoding blocks are not only unique, and can be further used as basic point as location, the position between the node by it, the overall calculation amount significantly reduces, and can therefore reduce cumulative errors, improve locating accuracy, thereby guaranteed accurate location.
Above-mentioned localization method based on two-dimentional magnetic coding, described tape is formed by the magnetic block linear array of rectangle, described two-dimentional magnetic encoding block then is to be divided into N * N cell at one foursquare, N represents the foursquare length of side, the cell that is filled with the magnetic square block represents 1, blank cell represents 0, thereby reads the Bit String that order is determined two-dimentional magnetic encoding block representative according to predetermined ranks when the recognition unit lattice.
Above-mentioned localization method based on two-dimentional magnetic coding is last from carrier near the direction of node during the node read method, adopts to begin identification from the upper left corner, identifies in from top to bottom mode from left to right.
Above-mentioned localization method based on two-dimentional magnetic coding, when a node connected a plurality of path, when guaranteeing never to enter this node with the path, the Bit String that reads was different.
Above-mentioned localization method based on two-dimentional magnetic coding, the Hall element unit is corresponding one by one with described cell on the carrier, and equal 2 * 2 array has 4 Hall elements on the Hall element unit, thereby when detecting, add up the signal of 4 Hall elements, be defined as the identification signal of this Hall element unit with the Distribution of Magnetic Field signal that calculates through linear interpolation.
Above-mentioned localization method based on two-dimentional magnetic coding, the area of Hall element cell array is greater than the area of two-dimentional magnetic encoding block.
Above-mentioned localization method based on two-dimentional magnetic coding, use the Hall element of two bit arrays to detect DISTRIBUTION OF MAGNETIC FIELD, keep the narrowest with the magnetic field intensity that monitors in predetermined direction of motion, and then on traffic direction, form the changes of magnetic field curve by time uniform period sampling, re-use the interpolation method matched curve, compare with predefined magnetic field intensity, and calculate carrier by a used time in tape cycle, calculate instantaneous velocity in conjunction with the path of tape in the cycle; Correspondingly, the tape periodicity by in a period of time calculates the carrier average velocity in this time period.
Above-mentioned positioning system based on two codings, described tape are the even compartment of terrain of magnetic block linear array.
Above-mentioned positioning system based on two codings, described two-dimentional magnetic encoding block are for to be divided into N * N cell at one foursquare, and each cell is filled with magnetic block or keeps blank according to predetermined coding; Accordingly, described Hall element group is the Hall element cell array of the arrangement identical with described cell, and each Hall element group is provided with four Hall elements all putting, to identify the corresponding unit lattice simultaneously; Wherein the area of Hall element group is greater than the area of two encoding blocks.
Description of drawings
Fig. 1 is according to a kind of two-dimentional magnetic coding method synoptic diagram of the present invention.
Fig. 2 is according to a kind of period discrete guiding tape laying method synoptic diagram of the present invention.
Fig. 3 is according to a kind of two-dimentional Hall sensor array distribution schematic diagram of the present invention.
Fig. 4 is according to a kind of magnetic orbital synoptic diagram of the present invention.
Embodiment
In conjunction with the localization method of tape guidance technology, as the patent documentation that the background technology part is quoted, the comparative maturity that the tape guidance technology has developed.As shown in Figure 4; here concrete grammar is: the path that the track of advancing at carrier is set is in other words laid the magnetic field intensity with certain width and is the tape that the cycle changes; be referred to as period discrete guiding tape; detect above-mentioned period discrete guiding tape by Hall sensor array then, and by the attitude that carrier is adjusted in the distribution that detects magnetic field intensity make carrier according to predetermined attitude and direction along the operation of period discrete guiding tape.
The square that has grid among Fig. 4 is illustrated among Fig. 1 to being coding method box structure synoptic diagram in other words.Need not feelings Chu and represent wherein cell such as 1,0 grid in other words in Fig. 4, tackling Fig. 4 according to Fig. 1 those skilled in the art has clearly and understands.
On this basis, according to the specific guiding position that is used for selecting, place two-dimentional magnetic coding region, detect DISTRIBUTION OF MAGNETIC FIELD by two-dimentional Hall sensor array and realize decoding, determine demarcation and use relevant specific region, the location of realizing carrier.
Carrier is typically provided with Vehicle Controller or other logical operation control device, and the sensor that is used for guiding and location so can insert Vehicle Controller, is used for the attitude of control carrier and to the location of carrier.
The method of the tape of a kind of magnetic field period discrete distribution spatially is: tape is carried out cutting, cutting be shaped as rectangle, as shown in Figure 2, W2 is greater than 2 times W3, just generally greater than 2 times of width, the tape that linear array forms is called the scale tape to the length of rectangle.
The center of scale tape is placed on the path of setting, long limit is vertical with the direct of travel of track, the limit of W2 correspondence among Fig. 2, staying with the onesize blank of scale tape along trajectory direction from the scale tape does not have magnetic area, and then placement scale tape, and stay blank no magnetic area equally, repeat this process, up to covering whole track.Combine and be called period discrete guiding tape having formed all scale tapes on this track of magnetic field that period discrete distributes on the space above the track like this.
Among Fig. 2, black is represented magnetic block, is encoded to 1, and dead zone is encoded to 0.
In structure shown in Figure 2, need not to construct N, S pairing and use structure tape structure, cost is lower, and the speed that arranges can be faster.Certainly, also can use N, S pairing as a unit here, construct tape by the mode of unit linear array then.
In above-mentioned structure, the width W 4 in blank gap can be not equal to W3, does not also influence the identification in path.But as shown in Figure 2, period discrete guiding tape can produce the square wave shown in Fig. 2 bottom for identification equipment, calculates and can be used as clock signal or reference signal easily.
In above-mentioned content, realize location position by two-dimentional magnetic coding techniques, as shown in Figure 4, some two-dimentional magnetic encoding blocks are set in the path form node, these nodes are used for locating as equipment, concrete positioning parts on the equipment etc. can also be as the path junction node.
A kind of method is: by on the plane, just selected square area is divided on the scope of operation path, is divided into the area N identical with shape
2Individual little square, the length of side is W1, and black box represents to place the grid of tape or this journey medium among the figure, is encoded to 1, and the grid of tape is not placed in the white expression, is encoded to 0.Wherein N represents the grid number of every limit correspondence.
The big foursquare length of side is divided into the grid that the N equal portions form, and each grid has constituted a basic bits of coded, and each bits of coded adopts binary coding, and tape is cut into the same grid area tape identical with shape, is called the coding tape, N
2The zone that individual bits of coded constitutes is called coding region.
Any one grid in the coding region can be placed the coding tape, perhaps keep blank, thereby each grid top is because placing or keeping blank can detect the magnetic field intensity of remarkable difference, magnetic field intensity is carried out binaryzation, realized a kind of two-dimentional magnetic coding method, use identical two-dimensional arrangements the Hall element matrix realize decoding, in conjunction with the guiding of continuous tape, thus low-cost, realized guiding and the location of carrier accurately.
By the selection to guiding tape and coding tape, guidance accuracy is better than 5mm, and bearing accuracy is better than 15mm.
After setting by two-dimentional magnetic encoding block, the position at its place is definite, calculates thereby can carry out specific coding based on certain node, can significantly reduce calculated amount.
Should know the guiding tape when being set up, the corresponding so-called cycle determines that so according to the waveform signal of gathering, the time that cooperates carrier to move can calculate carrier current position, instantaneous velocity and average velocity.
According to default node, can carry out that carrier accelerates, the setting of braking section, guaranteeing that before equipment, carrier just reduces speed now before arriving certain node, thereby guarantee the accuracy that carrier is stopped when the equipment of arrival.
At carrier on the operation plane, the discrete guiding of life cycle tape is laid on the track of carrier operation, in the place that needs recognizing site coding region is set, and encode, period discrete guiding tape should keep vertical with coding region, the central shaft of coding region overlaps with the central shaft of guiding tape running direction, carrier moves along guiding on the tape by two-dimentional Hall sensor array, after entering coding region, by the detection and Identification magnetic field intensity, decode, thereby finish guiding and positioning function.
Need to prove that it is exactly the process that it is arranged band tape grid as shown in Figure 1 that code area office is encoded, encoding and decoding on this basis will be apparent in conjunction with prior art, at this paper this repeated no more.
4 propositions are a kind of by reference to the accompanying drawings in following content realizes overall Methods for Coding at whole magnetic orbital, under the situation that does not increase coding region, has realized the identification in different paths.Magnetic orbital is made up of node and path therebetween, and coding region is placed on the node, and node and coding region are corresponding one by one.
Node is the key link on the magnetic orbital, divide from the number of paths of connected node, node is divided into single path, dual path is (straight-through, two path angles are 180 degree), dual path is (vertical, the angle in two paths is 90 degree), three paths and four path nodes, all paths are vertical with a limit of coding region.
According to above classification and definition, the specific coding method of coding region node is: the coding region unification that is placed on the magnetic orbital path node is placed according to a direction, be that any one coding region can obtain after translation by other any one coding regions, see coding region from the direction near coding region along the path, its some direction is seen, direction as the carrier operation is seen, the coding grid in the upper left corner is as the 1st row the 1st row bits of coded, from left to right from top to bottom, be the capable L row of M bits of coded successively, all these bit tables have been levied the unique code identification that enters coding region from this path, for the multipath node, never should guarantee that it all is different entering the coding that coding region sees with the path, and guarantee that the coding on all path directions in whole magnetic orbital scope is all different, thereby guaranteed that again it is unique that any paths in the whole track scope enters the coding that coding region sees, makes the run action of carrier in whole magnetic orbital that unique and clear and definite implication be arranged by this coding method.
For the path that the trend of distinguishing carrier or carrier move, when a node connected a plurality of path, when guaranteeing never to enter this node with the path, the Bit String that reads was different.Like this may be to a group coding should be arranged for same node.
In above content, as can be known, may face more coding concrete application person, to satisfy global application, by two coded systems the two-dimentional magnetic coding tape that has than large information capacity can be set in limited space.
And then, use two-dimentional equally distributed Hall sensor array to detect magnetic orbital, concrete grammar is: Hall element is two-dimensional linear and evenly distributes, because the size of Hall element is less, adopt 4 Hall elements to detect a coding grid, by the mean value of 4 Hall elements detection numerical value being adjudicated the coding of current grid, overcome because the detection error code that movement warp causes.
The total area of Hall sensor array still can accurately detect the encoded radio of coding region greater than coding region when certain deviation takes place in the carrier position.
Said mean value can show as 4 sensors and identify 31 and 10, distributes by the linear interpolation calculating magnetic field.This method can reduce the bit error rate effectively.
Utilize period discrete guiding tape to estimate the method for the instantaneous travelling speed of carrier and average running speed.Concrete grammar is: use two-dimentional Hall sensor array to detect DISTRIBUTION OF MAGNETIC FIELD, it is the narrowest to remain on the direction vertical with the regulation traffic direction detected magnetic field, namely guarantee the carrier orbiting, on traffic direction, form the changes of magnetic field curve by time uniform period sampling, re-use the interpolation method matched curve, compare with predefined magnetic field intensity, can calculate carrier through the time of the tape in 1 cycle, thereby with the length of 1 cycle tape divided by this time, it is exactly approximate instantaneous velocity, in a period of time, the cycle tape counting to process calculates the distance of process during this period of time, with the time of this distance divided by experience, be exactly interior during this period of time average velocity.
Employed tape generally adopts the rubber magnetic stripe of width 50mm, and cost is very cheap, and can be customized to Any shape.
The rubber magnetic stripe be mainly used in refrigerator, kitchen appliance and, in the door seal gum cover such as bathroom facility, door and window, moderate because of its suction, be combined into door seal with garment bag after, favorable sealing property, the temperature wide accommodation, it is convenient to open, durable in use, thereby widespread use in every profession and trade.
As long as utilize the magnetic of rubber magnetic stripe here, the rubber magnet bar main material composition of a large amount of supplies at present is: 85% ~ 92% barium (strontium) ferromagnetic oxide powder, 5% ~ 9%CPE.Its shape, magnetic pole and suction etc. require the model of different formation difformities and characteristic, and many is the form of the multipole flat of single face, and supply status is generally rolling or the supply of coiled plate-like.
Generally at 20mm～50mm, should decide according to the magnetic field intensity of tape and the concrete condition of carrier by this distance apart from the distance of tape for Hall sensor array, and the bit error rate that produces in specifically can be is by experiment adjusted described distance.
Embodiment more specifically, shown in Fig. 1 to 4, coding region is by the square net compositing area, each grid can arrange tape or keep blank, what tape was arranged is encoded to 1, and what do not have tape is encoded to 0, thereby as Fig. 1. realized two-dimensional encoded to coding region.Use 4 * 4 grid among Fig. 1, according to the difference of using, can adopt the grid of other quantity, coding region also can be the different rectangle of length and width, the rectangle that grid also can adopt length and width not wait, and correspondingly, Hall sensor array also should be adjusted.
Period discrete guiding tape is formed by periodically placing tape.Concrete as Fig. 2, in Fig. 2, the width of tape is identical with blank width on the traffic direction, in order to save tape, also can adopt the width that increases white space.
Two dimension Hall sensor array embodiment is: the Hall element that circuit board is installed is arranged according to the mode of Fig. 3 by the surface mount mode.Herein, with the mode that four Hall elements detect, the quantity that increases single encoded grid Hall element can improve the accuracy of decoding according to a coding grid.
The total area of two dimension Hall sensor array and is taked evenly distributed mode greater than coding region, departs from when guiding the tape certain distance when carrier like this, still can correctly decode.
Sign indicating number zone and guiding tape constitute magnetic orbital jointly, and coding region is the node of track, and the guiding tape is the path of track.Fig. 4 is the magnetic orbital that has comprised single path, dual path, three paths and these four kinds of nodes of four path nodes.Carrier can move along guide path, and position at coding region by the guiding of guide path and the identification of coding region, finishes guiding and positioning function.
Claims (10)
1. localization method based on two-dimentional magnetic coding, it is characterized in that, the two-dimentional magnetic encoding block of sign corresponding node is set at the selected node of carrier predefined paths, and between the node in path, be laid on the periodically variable tape of magnetic field intensity on the path direction, correspondingly, be provided for detecting Hall element group and the treatment facility of Distribution of Magnetic Field on institute's operating path at carrier, thereby, carrier is guided based on periodically variable magnetic field when operation, serves as that the location benchmark is located to the carrier between next node for present node with the residing position of present node; Accordingly, determine absolute position under described base condition by cycle count on the tape and wavelength product between the node.
2. the localization method based on two-dimentional magnetic coding according to claim 1, it is characterized in that, described tape is formed by the magnetic block linear array of rectangle, described two-dimentional magnetic encoding block then is to be divided into N * N cell at one foursquare, N represents the foursquare length of side, the cell that is filled with the magnetic square block represents 1, and blank cell represents 0, thereby reads the Bit String that order is determined two-dimentional magnetic encoding block representative according to predetermined ranks when the recognition unit lattice.
3. the localization method based on two-dimentional magnetic coding according to claim 2 is characterized in that, is last from carrier near the direction of node during the node read method, adopts to begin identification from the upper left corner, identifies in from top to bottom mode from left to right.
4. the localization method based on two-dimentional magnetic coding according to claim 3 is characterized in that, when a node connected a plurality of path, when guaranteeing never to enter this node with the path, the Bit String that reads was different.
5. according to the arbitrary described localization method based on two-dimentional magnetic coding of claim 2 to 4, it is characterized in that, the Hall element unit is corresponding one by one with described cell on the carrier, and equal 2 * 2 ground arrays have 4 Hall elements on the Hall element unit, thereby when detecting, the signal of 4 Hall elements of statistics is defined as the identification signal of this Hall element unit with the signal of the Distribution of Magnetic Field that calculates through linear interpolation.
6. the localization method based on two-dimentional magnetic coding according to claim 5 is characterized in that the area of Hall element cell array is greater than the area of two-dimentional magnetic encoding block.
7. the localization method based on two-dimentional magnetic coding according to claim 1, it is characterized in that, use the Hall element of two bit arrays to detect DISTRIBUTION OF MAGNETIC FIELD, keep the narrowest with the magnetic field intensity that monitors in predetermined direction of motion, and then on traffic direction, form the changes of magnetic field curve by time uniform period sampling, re-use the interpolation method matched curve, compare with predefined magnetic field intensity, and calculate carrier by a used time in tape cycle, calculate instantaneous velocity in conjunction with the path of tape in the cycle; Correspondingly, the tape periodicity by in a period of time calculates the carrier average velocity in this time period.
8. positioning system based on two codings, it is characterized in that, be included in carrier operation predefined paths and select the two-dimentional magnetic encoding block that arranges on the node constitutes magnetic orbital with being connected described node according to the path tape, and be arranged on the Hall element group that magnetic medium on the path is identified on the carrier and the treatment facility that institute's identification signal is handled, thereby this treatment facility is exported the described carrier of control according to handled result and is positioned in conjunction with tape along the operation of described path and the position demarcated according to two-dimentional magnetic encoding block; Wherein, described tape is formed by magnetic medium block periodicity array and has the magnetic field that the intensity cycle changes on path direction.
9. the positioning system based on two codings according to claim 8 is characterized in that, described tape is the even compartment of terrain of magnetic block linear array.
10. according to Claim 8 or 9 described positioning systems based on two codings, it is characterized in that, described two-dimentional magnetic encoding block is for to be divided into N * N cell at one foursquare, and each cell is filled with magnetic block or keeps blank according to predetermined coding; Accordingly, described Hall element group is the Hall element cell array of the arrangement identical with described cell, and each Hall element group is provided with four Hall elements all putting, to identify the corresponding unit lattice simultaneously; Wherein the area of Hall element group is greater than the area of two encoding blocks.
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