CN104155979A - Magnetic navigation intelligent vehicle positioning device and method based on magnetic field symmetry - Google Patents
Magnetic navigation intelligent vehicle positioning device and method based on magnetic field symmetry Download PDFInfo
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- CN104155979A CN104155979A CN201410374819.4A CN201410374819A CN104155979A CN 104155979 A CN104155979 A CN 104155979A CN 201410374819 A CN201410374819 A CN 201410374819A CN 104155979 A CN104155979 A CN 104155979A
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Abstract
The invention relates to a magnetic navigation intelligent vehicle positioning device and method based on magnetic field symmetry. The magnetic navigation intelligent vehicle positioning device comprises multiple magnetic nails, multiple magnetic sensors, an ultrasonic transducer, a microcontroller unit and a CAN communication interface, wherein the multiple magnetic nails are paved on the ground at equal intervals and used for generating a symmetrical magnetic field; the multiple magnetic sensors are mounted in front of an intelligent vehicle at equal intervals and on the same horizontal plane, arranged in a square crossing manner and used for detecting the intensity of the magnetic field formed by the magnetic nails; the ultrasonic transducer is mounted on the intelligent vehicle and on the same horizontal level with the magnetic sensors and used for detecting the height from the magnetic sensors to the magnetic nails; the microcontroller unit is used for receiving data of the magnetic sensors and the ultrasonic transducer and processing the data; the microcontroller unit is in communication connection with a vehicle control unit through the CAN communication interface. Compared with the prior art, the magnetic navigation intelligent vehicle positioning device has the advantages of simplicity, high adaptability and high positioning accuracy.
Description
Technical field
The present invention relates to intelligent automobile technical field, especially relate to a kind of magnetic navigation intelligent vehicle locating device and method based on magnetic field symmetry.
Background technology
In existing magnetic navigation technology, the travel speed that promotes magnetic navigation intelligent vehicle could not obtain compared with quantum jump always, search to the bottom and be that the field decay that induction magnetic nail produces is fast, effective range is little, data volume is large and magnetic field is easily disturbed vehicle cannot accurately be located in the time travelling in magnetic nail path, control cycle is elongated, vehicle stability cannot be guaranteed, in the situation that there is guardrail auxiliary positioning road both sides, vehicle still can reach more satisfactory duty, and to being layed in the magnetic nail path self-adaptation ideally in ordinary road.
Summary of the invention
Object of the present invention is exactly that a kind of brief, strong adaptability, magnetic navigation intelligent vehicle locating device and method based on magnetic field symmetry that positioning precision is high are provided in order to overcome the defect that above-mentioned prior art exists.
Object of the present invention can be achieved through the following technical solutions:
A magnetic navigation intelligent vehicle locating device based on magnetic field symmetry, comprising:
Magnetic nail, is provided with multiplely, and equidistant laying on the ground, for generation of symmetry magnetic field;
Magnetic Sensor, is provided with multiplely, is equidistantly arranged on intelligent vehicle front in same level, and is square crossing setting with described magnetic nail, for detection of the magnetic field intensity of magnetic nail;
Ultrasonic sensor, is arranged on intelligent vehicle, and is arranged on same level height with described Magnetic Sensor, the height for detection of Magnetic Sensor apart from magnetic nail;
Micro controller unit, for receiving the data of Magnetic Sensor and ultrasonic sensor and carrying out data processing;
CAN communication interface, described micro controller unit is connected with entire car controller communication by this CAN communication interface.
Described magnetic nail is cylindric magnetic nail.
Described Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, tri-direction magnetic field intensitys of Z.
A magnetic navigation intelligent vehicle localization method based on magnetic field symmetry, comprising:
Magnetic field intensity obtaining step, obtains X, Y, tri-direction field strength value of Z;
Height obtaining step, obtains the height value of Magnetic Sensor apart from magnetic nail;
Demarcating steps, demarcates apart from magnetic and follows closely in surperficial differing heights plane cubic spline function coefficient of relationship between data;
Laterally, along track bias displacement calculation procedure, computational intelligence car depart from magnetic nail laterally and length travel.
Described magnetic field intensity obtaining step is specially: Magnetic Sensor detects the field strength value of magnetic nail X, Y, tri-directions of Z and sends to micro controller unit.
Described height obtaining step is specially: ultrasonic sensor is by step-by-step counting, and the height value of following closely apart from magnetic with the mode Real-time Obtaining Magnetic Sensor interrupting, and umber of pulse is sent to micro controller unit, micro controller unit calculates the height value of Magnetic Sensor apart from magnetic nail according to umber of pulse.
Described demarcating steps is specially: micro controller unit, according to height value and field strength value, utilizes magnetic field symmetry to demarcate and follows closely cubic spline function coefficient of relationship between surperficial differing heights plane inner field data apart from magnetic.
Described laterally, along track bias displacement calculation procedure is specially:
A) judge that according to the height value of Real-time Obtaining whether magnetic field data is effective, interpolation is asked for the cubic spline function coefficient of relationship that current height is corresponding;
B) obtain two maximum field strength values and corresponding Magnetic Sensor thereof according to the field strength value that collects, to judge that magnetic follows closely interval of living in;
C) follow closely interval of living in and known adjacent two Magnetic Sensor spacing in conjunction with cubic spline function coefficient of relationship, magnetic, solve triangle, can obtain the horizontal and length travel that vehicle departs from magnetic nail, and information is sent to entire car controller.
Compared with prior art, the present invention has following characteristics:
(1) apparatus of the present invention are simple, easy for installation, reduced cost;
(2) take full advantage of the symmetry rule in magnetic nail magnetic field, the accuracy of data can screen voluntarily and revise, and the cubic spline function relation of simultaneously coincideing between data, is convenient to the analyzing and processing by Matlab, obtains calibration coefficient.
(3) ultrasonic sensor detects Magnetic Sensor and magnetic nail surface distance in real time, in conjunction with the differing heights cubic spline function coefficient of relationship of demarcating, the accurate location while effectively realizing vehicle bob.
(4) Magnetic Sensor employing is equidistantly installed, and by solving triangle displacement calculating deviation, has realized horizontal and longitudinal hi-Fix of vehicle.
(5) without road both sides auxiliary positioning, good to the adaptability of road, reduce the laying cost of road.
Brief description of the drawings
Fig. 1 is the schematic layout pattern of locating device of the present invention;
Fig. 2 is the schematic diagram that is related to of the each parts of locating device of the present invention;
Fig. 3 is the schematic flow sheet of localization method of the present invention;
Fig. 4 is the space symmetr Distribution of Magnetic Field figure of magnetic nail of the present invention;
Fig. 5 is magnetic field data figure line and matching figure line schematic diagram in application example.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented as prerequisite taking technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry, comprise magnetic nail 1, Magnetic Sensor 2, ultrasonic sensor 3, micro controller unit 4 and CAN communication interface, micro controller unit 4 connects respectively Magnetic Sensor 2, ultrasonic sensor 3 and CAN communication interface, CAN communication interface is connected with entire car controller communication, and micro controller unit 4 and CAN communication interface are arranged on magnetic navigation controller board.In the present embodiment, 0#～12# is 13 Magnetic Sensors, and interval 10cm is laterally equidistantly arranged on intelligent vehicle front, and for detection of the magnetic field intensity of magnetic nail, Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, tri-direction magnetic field intensitys of Z; No. I be for No. II two ultrasonic sensors be arranged on Magnetic Sensor sustained height plane in, interval 90cm, the height for detection of Magnetic Sensor apart from magnetic nail; Magnetic nail is provided with multiple, and with longitudinally equidistant laying of spacing 100cm, magnetic nail, for cylindric magnetic nail, is of a size of diameter 30mm, is highly 20mm.Magnetic Sensor and floor level are 20cm, and actual vehicle height in service has fluctuation.
Be illustrated in figure 2 locating device each several part relation of the present invention: be related to that the 101 symmetry magnetic fields (as shown in Figure 4) that produce for magnetic nail act on Magnetic Sensor, be related to that 102 read field strength values for Magnetic Sensor, because the Magnetic Sensor of selecting is triple axle, therefore can read respectively X, Y, the magnetic field strength date of tri-directions of Z, be related to that 103 determine Magnetic Sensor and ground distance, be related to 104 for micro controller unit accept comprise from entire car controller the message waking up with sleep command, be related to that 105 send for micro controller unit the message that comprises vehicle position information to entire car controller, be related to that 106 for fault diagnosis, detect after fault by being related to that 107 generate failure code, send entire car controller to.
As shown in Figure 3, the localization method of the above-mentioned magnetic navigation intelligent vehicle locating device based on magnetic field symmetry is as follows:
Step 301, carries out system and powers on;
Step 302, starts each module self diagnosis, if detect, fault goes to step 303, if each module is all without abnormal, enters step 304;
Step 303, generates corresponding failure code, and sends entire car controller to by CAN bus;
Step 304, first enables Magnetic Sensor, then scans successively X, Y, the Z direction field strength values of 13 sensors;
Step 305, the impact in filtering interfering magnetic field, goes out a certain definite section in magnetic nail 26 sections that are divided into by 13 Magnetic Sensors of living according to the data judging of Z-direction and Y-direction;
Step 306, the data of choosing two Magnetic Sensors of respective segments calculate total magnetic intensity value;
Step 307, it is the height on ground that the calculated signals of first returning according to ultrasound wave goes out current sensor distance magnetic nail surface, judge that whether gained field strength values is effective, whether in centered by magnetic nail, in the circle of radius 25cm, if so, data are effective, execution step 308, otherwise data are invalid, go to step 304;
Step 308, asks for reference to gained height value interpolation the cubic spline function coefficient of relationship that current height is corresponding, calculates adjacent two Magnetic Sensors and nails at magnetic the air line distance that surface is ground projection and magnetic nail;
Step 309, utilizes known Magnetic Sensor spacing, can calculate by solving triangle the horizontal and length travel that vehicle departs from magnetic nail path, this displacement information is generated to CAN message and send to entire car controller.
Figure 5 shows that magnetic field data figure line and matching figure line in application example of the present invention.The longitudinal axis represents the air line distance of magnetic pitch of nails from Magnetic Sensor projection surface level, and unit is cm, and transverse axis is that X, Y, Z direction are closed magnetic field intensity, and unit is 5.25mG/LSB.
Claims (8)
1. the magnetic navigation intelligent vehicle locating device based on magnetic field symmetry, is characterized in that, comprising:
Magnetic nail, is provided with multiplely, and equidistant laying on the ground, for generation of symmetry magnetic field;
Magnetic Sensor, is provided with multiplely, is equidistantly arranged on intelligent vehicle front in same level, and is square crossing setting with described magnetic nail, for detection of the magnetic field intensity of magnetic nail;
Ultrasonic sensor, is arranged on intelligent vehicle, and is arranged on same level height with described Magnetic Sensor, the height for detection of Magnetic Sensor apart from magnetic nail;
Micro controller unit, for receiving the data of Magnetic Sensor and ultrasonic sensor and carrying out data processing;
CAN communication interface, described micro controller unit is connected with entire car controller communication by this CAN communication interface.
2. a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry according to claim 1, is characterized in that, described magnetic nail is cylindric magnetic nail.
3. a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry according to claim 1, is characterized in that, described Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, tri-direction magnetic field intensitys of Z.
4. a localization method for the magnetic navigation intelligent vehicle locating device based on magnetic field symmetry as claimed in claim 1, is characterized in that, comprising:
Magnetic field intensity obtaining step, obtains X, Y, tri-direction field strength value of Z;
Height obtaining step, obtains the height value of Magnetic Sensor apart from magnetic nail;
Demarcating steps, demarcates apart from magnetic and follows closely in surperficial differing heights plane cubic spline function coefficient of relationship between data;
Laterally, along track bias displacement calculation procedure, computational intelligence car depart from magnetic nail laterally and length travel.
5. a kind of magnetic navigation intelligent vehicle localization method based on magnetic field symmetry according to claim 4, it is characterized in that, described magnetic field intensity obtaining step is specially: Magnetic Sensor detects the field strength value of magnetic nail X, Y, tri-directions of Z and sends to micro controller unit.
6. a kind of magnetic navigation intelligent vehicle localization method based on magnetic field symmetry according to claim 4, it is characterized in that, described height obtaining step is specially: ultrasonic sensor is by step-by-step counting, and the height value of following closely apart from magnetic with the mode Real-time Obtaining Magnetic Sensor interrupting, and umber of pulse is sent to micro controller unit, micro controller unit calculates the height value of Magnetic Sensor apart from magnetic nail according to umber of pulse.
7. a kind of magnetic navigation intelligent vehicle localization method based on magnetic field symmetry according to claim 4, it is characterized in that, described demarcating steps is specially: micro controller unit, according to height value and field strength value, utilizes magnetic field symmetry to demarcate and follows closely cubic spline function coefficient of relationship between surperficial differing heights plane inner field data apart from magnetic.
8. a kind of magnetic navigation intelligent vehicle localization method based on magnetic field symmetry according to claim 4, is characterized in that, described laterally, along track bias displacement calculation procedure is specially:
A) judge that according to the height value of Real-time Obtaining whether magnetic field data is effective, interpolation is asked for the cubic spline function coefficient of relationship that current height is corresponding;
B) obtain two maximum field strength values and corresponding Magnetic Sensor thereof according to the field strength value that collects, to judge that magnetic follows closely interval of living in;
C) follow closely interval of living in and known adjacent two Magnetic Sensor spacing in conjunction with cubic spline function coefficient of relationship, magnetic, solve triangle, can obtain the horizontal and length travel that vehicle departs from magnetic nail, and information is sent to entire car controller.
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| CN105043381A (en) * | 2015-06-30 | 2015-11-11 | 广东嘉腾机器人自动化有限公司 | Magnetic nail-based positioning method |
| CN106840144A (en) * | 2016-12-30 | 2017-06-13 | 北京科技大学 | One kind is accurately positioned type shopping guide's component |
| CN107153421A (en) * | 2017-06-08 | 2017-09-12 | 北京克路德人工智能科技有限公司 | Autonomous patrol robot flight path means for correcting and method |
| CN107560616A (en) * | 2017-08-17 | 2018-01-09 | 深圳市元智慧科技有限公司 | Magnetic navigation method and its magnetic navigation instrument |
| CN107957725A (en) * | 2017-11-17 | 2018-04-24 | 泉州装备制造研究所 | A kind of High Precision Automatic guiding car positioning and orienting device and method based on single magnetic nail |
| CN110539304A (en) * | 2019-08-28 | 2019-12-06 | 南京市晨枭软件技术有限公司 | Positioning system and positioning method of mobile robot |
| CN110709906A (en) * | 2017-06-06 | 2020-01-17 | 爱知制钢株式会社 | Marker system and application method |
| CN112517324A (en) * | 2020-11-17 | 2021-03-19 | 中国第一汽车股份有限公司 | Automatic robot gluing path generation device and method |
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| CN106840144A (en) * | 2016-12-30 | 2017-06-13 | 北京科技大学 | One kind is accurately positioned type shopping guide's component |
| CN110709906A (en) * | 2017-06-06 | 2020-01-17 | 爱知制钢株式会社 | Marker system and application method |
| CN110709906B (en) * | 2017-06-06 | 2022-02-01 | 爱知制钢株式会社 | Marker system and application method |
| CN107153421A (en) * | 2017-06-08 | 2017-09-12 | 北京克路德人工智能科技有限公司 | Autonomous patrol robot flight path means for correcting and method |
| CN107560616A (en) * | 2017-08-17 | 2018-01-09 | 深圳市元智慧科技有限公司 | Magnetic navigation method and its magnetic navigation instrument |
| CN107957725A (en) * | 2017-11-17 | 2018-04-24 | 泉州装备制造研究所 | A kind of High Precision Automatic guiding car positioning and orienting device and method based on single magnetic nail |
| CN110539304A (en) * | 2019-08-28 | 2019-12-06 | 南京市晨枭软件技术有限公司 | Positioning system and positioning method of mobile robot |
| CN112517324A (en) * | 2020-11-17 | 2021-03-19 | 中国第一汽车股份有限公司 | Automatic robot gluing path generation device and method |
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