CN105066988A - Magnetic strip deviation angle measurement method based on high precision magnetic navigation sensor - Google Patents

Abstract

The invention provides a magnetic strip deviation angle measurement method based on a high precision magnetic navigation sensor, and relates to the technical field of AGV vehicle magnetic seeking navigation. A purpose of the present invention is to solve the problems that the existing strip Hall sensor has pool stability during the magnetic seeking walking process, the landmark detection and positioning precision of the magnetic strip way is low and the magnetic strip deviation angle measurement is not provided. According to the present invention, m Hall sensors are used to form a closed loop, the magnetic field position of the transverse line-shaped magnetic strip or cross magnetic strip is detected, every 8 Hall sensors latch the detected data through a data latch, a MCU controller acquires the magnetic strip magnetic field data from the m/8 data latches, calculation and processing are performed, the data is sent out with a CAN bus through a CAN bus data transceiver, and the main control unit of the AGV vehicle real-timely acquires the angle deviation [theta] between the transverse line-shaped magnetic strip and the cross magnetic strip and the position deviation between the AGV vehicle and the transverse line-shaped magnetic strip through the CAN bus. The method of the present invention can be used for the AGV vehicle magnetic seeking.

Description

A kind of measuring method of the magnetic stripe misalignment angle based on high-precision magnetic navigation sensor

Technical field

Magnetic navigation technical field is sought the invention belongs to AGV cars.Especially pair AGV cars that can be rotated in place have more preferable effect.

Background technology

With the development of electronics and Hall sensor technology, AGV magnetic navigations technology also improves constantly, develops towards the direction that performance is more superior, precision is higher.Seek the transverse direction of magnetic navigation and landmark locations offset detection precision in order to improve AGV cars, obtaining deviation angle, the anglec of rotation is obtained for AGV can be rotated in place, and this technology is able to design and is applied.

Magnetic navigation sensor in existing AGV industries is typically using the sensor of the Hall of strip 6,8 Halls or more to 16 Halls, its accuracy of detection is influenceed by distance between two Halls, generally in 1~2cm errors, also seek magnetic error hence in so that AGV cars are minimum with 1~2cm even more big transverse directions and cause double swerve in walking process.And it is unaware that car current line walks misalignment angle so that increase adjustment number of times in walking process.And the type sensor is not high for magnetic stripe mode terrestrial reference detection positioning precision.The anglec of rotation can not be accurately measured for the AGV cars that can be rotated in place.Therefore generally to increase other sensors or equipment to make up so that cost increase.

The content of the invention

The present invention is poor in order to solve existing strip Hall sensor inspection stability in magnetic walking process is sought, and the terrestrial reference detection positioning precision for magnetic stripe mode is low, and lacks the problem of measuring magnetic stripe misalignment angle.A kind of measuring method of the magnetic stripe misalignment angle based on high-precision magnetic navigation sensor is now provided.

A kind of measuring method of the magnetic stripe misalignment angle based on high-precision magnetic navigation sensor, it includes herein below：

The circle of a closed loop is constituted using m Hall sensor, m is positive integer, detect the magnetic field position of a word magnetic stripe or cross magnetic stripe, every 8 Hall sensors are latched the data of detection by a data latches, MCU controllers with timing or not timing mode fromMagnetic stripe magnetic field data is obtained in individual data latches, and by calculating and handling, data are sent with CAN by CAN data collector, the main control unit of AGV cars obtains the lateral attitude deviation D X and lengthwise position deviation D X of a word magnetic stripe and angular deviation θ, AGV car of cross magnetic stripe and lateral attitude deviation D X and the AGV car of a word magnetic stripe and cross magnetic stripe by CAN in real time, realizes the measurement of magnetic stripe misalignment angle.

Beneficial effects of the present invention are：The circle of a closed loop is constituted using m Hall sensor, detect the magnetic field position of a word magnetic stripe or cross magnetic stripe, so that the stability in magnetic stripe walking process of the AGV cars with Hall sensor is good, terrestrial reference detection positioning precision for magnetic stripe mode is high, reach 1mm~2mm precision, the mode accuracy of detection of existing sensor detection magnetic stripe improves more than 6 times on year-on-year basis, in addition, every 8 Hall sensors are latched the data of detection by a data latches, MCU controllers with timing or not timing mode fromMagnetic stripe magnetic field data is obtained in individual data latches, and by calculating and handling, data are sent with CAN by CAN data collector, the main control unit of AGV cars obtains angular deviation θ and the AGV car and the lateral attitude deviation D X of a word magnetic stripe of a word magnetic stripe and cross magnetic stripe by CAN in real time, when can measure AGV garages and entering, deviate the angular deviation in the center of circle, its precision is 1 degree；AGV cars can also be measured and reach magnetically target position deviation, its precision is 1mm~2mm；Under cross and a word magnetic stripe detection pattern, before being rotated when original place centered on cross coordinate O, current angular deviation θ is recorded, when original place is rotated centered on cross coordinate O, angular deviation θ will be increased continuously or reduced, you can know the anglec of rotation, and its precision is 1 degree.

Brief description of the drawings

Fig. 1 is a kind of principle schematic of magnetic navigation sensor for AGV cars；

Fig. 2 is printed board front view in invention, and reference 1 is printed board；

Fig. 3 is Hall sensor itself cross in the present invention as mark system schematic diagram；

Schematic diagram when Fig. 4 and Fig. 5 is detects a word magnetic stripe in the present invention；

Fig. 6 and Fig. 7 is the schematic diagram in the present invention during detection cross magnetic stripe.

Embodiment

Embodiment one：Present embodiment is illustrated referring to figs. 1 to Fig. 7, a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor described in present embodiment, it includes herein below：

The magnetic field position of the circle of a closed loop, one word magnetic stripe of detection or cross magnetic stripe is constituted using m Hall sensor, every 8 Hall sensors are latched the data of detection by a data latches, MCU controllers with regularly or not timing mode fromMagnetic stripe magnetic field data is obtained in individual data latches, and by calculating and handling, data are sent with CAN by CAN data collector, the main control unit of AGV cars obtains the lateral attitude deviation D X and lengthwise position deviation D X of a word magnetic stripe and angular deviation θ, AGV car of cross magnetic stripe and lateral attitude deviation D X and the AGV car of a word magnetic stripe and cross magnetic stripe by CAN in real time, realizes the measurement of magnetic stripe misalignment angle.

Embodiment two：Present embodiment is that a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor described in embodiment one is described further, in present embodiment, and the number of Hall sensor is 180.

In present embodiment, it is accuracy of detection highest that the number of Hall sensor, which takes 180,.The data of 180 Hall sensors carry out data latch using 24 data latches, wherein, every 8 Hall sensors in 22 data latches are latched the data of detection by a data latches, and every 2 Hall sensors in remaining 4 Hall sensors are by the data of detection by a data latches.

Embodiment three：Present embodiment is that a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor described in embodiment one or embodiment two is described further, in present embodiment, the process for obtaining angular deviation θ and the AGV car and the lateral attitude deviation D X of a word magnetic stripe of a word magnetic stripe is：

When constituting the one word magnetic stripe of circle detection of a closed loop using 180 Hall sensors, the formation cross coordinate system by round dot of the circular center of circle, Y-axis is the positive direct of travel of AGV cars, the center line of one word magnetic stripe and 180 Hall sensors have two intersection points, the center of circle that two intersection points connect 180 Hall sensors constitutes two straight lines, between two straight lines and the Y-axis of cross coordinate system, forms two angles, respectively a1 and a2

According to formula：

$\mathrm{\θ}=\frac{a2+a1-180}{2}$ （Formula 1）,

Angular deviation θ is obtained,

Angle a1 and angle a2 are brought into the position of a in formula 2 and formula 3 respectively：

χ=sin (a) × R (formula 2),

With y=cos (a) × R (formula 3),

The coordinate for obtaining the center line of a word magnetic stripe and two intersection point P1 of 180 Hall sensors and P2, P1 is that (x1, y1) and P2 coordinate are (x2, y2),

Wherein, R represents the circular radius of the closed loop of 180 Hall sensor compositions,

It is that (x2, y2) substitutes into formula by P1 coordinate (x1, y1) and P2 coordinate：

$K=\frac{y2-y1}{x2-x1}$ （Formula 4）,

Slope K of the word magnetic stripe with respect to cross coordinate system is obtained,

The distance of the line of P1 points and P2 points and intersection point P3 to the round dot of the X-axis of cross coordinate system is AGV cars and the lateral attitude deviation D X of a word magnetic stripe, and the slope K by a word magnetic stripe with respect to cross coordinate system substitutes into formula：

$DX=-\frac{y1-K\×x1}{K}$ （Formula 5）,

Obtain the lateral attitude deviation D X of AGV cars and a word magnetic stripe.

Embodiment four：Present embodiment is that a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor described in embodiment one, embodiment two or embodiment three is described further, in present embodiment, the process for obtaining angular deviation θ, AGV car of cross magnetic stripe and the lateral attitude deviation D X and lengthwise position deviation D Y of cross magnetic stripe is：

When the circle detection cross magnetic stripe of closed loop is constituted using 180 Hall sensors, four center lines of cross magnetic stripe have four intersection points with circle, four intersection points are connected to form four straight lines with the center of circle, between two straight lines and the Y-axis of cross coordinate system, form four angles, respectively a11, a12, a13 and a14

By a11 and the a12 a1 brought into respectively in formula 1 and a2 position：

Angular deviation θ is obtained,

By angle a11, angle a12, angle a13 and angle the a14 a brought into respectively in formula 2 and formula 3 position,

Obtain the center line of cross magnetic stripe and four intersection points P11, P12, P13 and P14 of 180 Hall sensors, P11 coordinate is (x1, y1), P12 coordinate is (x2, y2), P13 coordinate is (x3, y3) and P14 coordinate be (x4, y5)

By P11 coordinate (x1, y1) and P12 coordinate be (x2, y2 formula 4) is substituted into, obtain slope K 1 of the magnetic stripe with respect to cross coordinate system of P11 and P12 connections, P13 coordinate (x3, y3) and P14 coordinate (x4, y5) are substituted into formula 4, obtain the slope K 2 of P13 cross coordinate systems relative with the magnetic stripe of P14 connections

According to formula：

$x5=\frac{(y3-K2\×X3)-(y1-K1\×x1)}{K1-K2}$ （Formula 6）,

With y5=K1 × (x5-x1)+y1 (formula 7),

Obtain cross magnetic stripe and intersect lateral attitude deviation D Xs of the abscissa x5 in coordinate values (x5, y5) of the dot center P5 relative to cross coordinate system, the coordinate value for AGV cars and cross magnetic stripe, ordinate y5 is the lengthwise position deviation of AGV cars and cross magnetic stripe.

Claims (4)

1. a kind of measuring method of the magnetic stripe misalignment angle based on high-precision magnetic navigation sensor, it is characterised in that it includes herein below：

The circle of a closed loop is constituted using m Hall sensor, m is positive integer, detect the magnetic field position of a word magnetic stripe or cross magnetic stripe, every 8 Hall sensors are latched the data of detection by a data latches, MCU controllers with timing or not timing mode fromMagnetic stripe magnetic field data is obtained in individual data latches, and by calculating and handling, data are sent with CAN by CAN data collector, the main control unit of AGV cars obtains the lateral attitude deviation D X and lengthwise position deviation D Y of a word magnetic stripe and angular deviation θ, AGV car of cross magnetic stripe and lateral attitude deviation D X and the AGV car of a word magnetic stripe and cross magnetic stripe by CAN in real time, realizes the measurement of magnetic stripe misalignment angle.

2. the measuring method of a kind of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor according to claim 1, it is characterised in that the number of Hall sensor is 180.

3. a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor according to claim 1 or 2, it is characterised in that the process for obtaining angular deviation θ and the AGV car and the lateral attitude deviation D X of a word magnetic stripe of a word magnetic stripe is：

When constituting the one word magnetic stripe of circle detection of a closed loop using 180 Hall sensors, the formation cross coordinate system by round dot of the circular center of circle, Y-axis is the positive direct of travel of AGV cars, the center line of one word magnetic stripe and 180 Hall sensors have two intersection points, the center of circle that two intersection points connect 180 Hall sensors constitutes two straight lines, between two straight lines and the Y-axis of cross coordinate system, forms two angles, respectively a1 and a2

According to formula：

(formula 1),

Angular deviation θ is obtained,

Angle a1 and angle a2 are brought into the position of a in formula 2 and formula 3 respectively：

X=sin (a) × R (formula 2),

With y=cos (a) × R (formula 3),

The coordinate for obtaining the center line of a word magnetic stripe and two intersection point P1 of 180 Hall sensors and P2, P1 is that (x1, y1) and P2 coordinate are (x2, y2),

Wherein, R represents the circular radius of the closed loop of 180 Hall sensor compositions,

It is that (x2, y2) substitutes into formula by P1 coordinate (x1, y1) and P2 coordinate：

(formula 4),

Slope K of the word magnetic stripe with respect to cross coordinate system is obtained,

The distance of the line of P1 points and P2 points and intersection point P3 to the round dot of the X-axis of cross coordinate system is AGV cars and the lateral attitude deviation D X of a word magnetic stripe, and the slope K by a word magnetic stripe with respect to cross coordinate system substitutes into formula：

(formula 5),

Obtain the lateral attitude deviation D X of AGV cars and a word magnetic stripe.

4. a kind of measuring method of magnetic stripe misalignment angle based on high-precision magnetic navigation sensor according to claim 1,2 or 3, characterized in that, the process for obtaining angular deviation θ, AGV car of cross magnetic stripe and the lateral attitude deviation D X and lengthwise position deviation D Y of cross magnetic stripe is：

When the circle detection cross magnetic stripe of closed loop is constituted using 180 Hall sensors, four center lines of cross magnetic stripe have four intersection points with circle, four intersection points are connected to form four straight lines with the center of circle, between two straight lines and the Y-axis of cross coordinate system, form four angles, respectively a11, a12, a13 and a14

By a11 and the a12 a1 brought into respectively in formula 1 and a2 position：

Angular deviation θ is obtained,

By angle a11, angle a12, angle a13 and angle the a14 a brought into respectively in formula 2 and formula 3 position：

Obtain the center line of cross magnetic stripe and four intersection points P11, P12, P13 and P14 of 180 Hall sensors, P11 coordinate is (x1, y1), P12 coordinate is (x2, y2), P13 coordinate is (x3, y3) and P14 coordinate be (x4, y5)

By P11 coordinate (x1, y1) and P12 coordinate be (x2, y2 formula 4) is substituted into, obtain slope K 1 of the magnetic stripe with respect to cross coordinate system of P11 and P12 connections, P13 coordinate (x3, y3) and P14 coordinate (x4, y5) are substituted into formula 4, obtain the slope K 2 of P13 cross coordinate systems relative with the magnetic stripe of P14 connections

According to formula：

(formula 6),

With y5=K1 × (x5-x1)+y1 (formula 7),

Obtain cross magnetic stripe and intersect lateral attitude deviation D Xs of the abscissa x5 in coordinate values (x5, y5) of the dot center P5 relative to cross coordinate system, the coordinate value for AGV cars and cross magnetic stripe, ordinate y5 is the lengthwise position deviation of AGV cars and cross magnetic stripe.