CN105824312A - Hall-positioning-system-based precise positioning apparatus and positioning method - Google Patents
Hall-positioning-system-based precise positioning apparatus and positioning method Download PDFInfo
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- CN105824312A CN105824312A CN201610142832.6A CN201610142832A CN105824312A CN 105824312 A CN105824312 A CN 105824312A CN 201610142832 A CN201610142832 A CN 201610142832A CN 105824312 A CN105824312 A CN 105824312A
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- 239000000523 sample Substances 0.000 claims abstract description 30
- 230000005389 magnetism Effects 0.000 claims description 27
- 239000011159 matrix material Substances 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000004807 localization Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 231100000572 poisoning Toxicity 0.000 claims description 3
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- 230000007547 defect Effects 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010205 computational analysis Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a hall-positioning-system-based precise positioning apparatus and positioning method. The precise positioning apparatus is composed of a positioning system and a walking mechanism. A telescopic hall probe is selected to cooperate with the walking mechanism, so that precise millimeter-level positioning is realized; and a defect that the traditional geomagnetic positioning system only realizes geomagnetic reference point positioning can be overcome and precise positioning between adjacent geomagnetic reference points can be realized. The positioning system formed by the hall probe, a telescopic rod and a stepping motor is added and a positioning algorithm is realized based on an Arduino unit, so that precise positioning of any position between two geomagnetic reference points is realized without the need of improvement of the geomagnetic reference point density. Moreover, a precise turning effect with a 90-degree angle or an angle of a multiple of the 90 degrees is realized. The system structure is simple and positioning can be realized rapidly and precisely.
Description
Technical field
The present invention relates to positioner and method and technology field, a kind of accurate positioning device based on Hall orientation system and localization method.
Background technology
nullWalking mechanism has delicate structure、Control reliable、Operate steadily，Of many uses、Application is flexibly，Different end effectors can be installed work with the workpiece handling completing various difformity and state，Significantly reduce the physical work that the mankind are heavy，Improve the quality stability of product and the automatization level of enterprise，Decrease the labor cost expenditure of enterprise，Traditional carrying walking mechanism is to be carried out the coordinate labelling of position by the earth magnetism filled on the ground，Utilize and earth magnetism is identified that sensor accurately finds and tells marked object，Through controlling part computational analysis，Control the frame for movement being arranged in walking mechanism，It is transported to object specify position，Realize intelligent classification handling、The purpose of carrying，Make goods transport carrying place carrying intellectuality，Reduce human labour，Realize comprehensive intelligent management，Cannot be accurately positioned between traditional earth magnetism location adjacent earth magnetism of walking mechanism.
Therefore, a system structure is designed simply for overcoming the deficiency of above-mentioned technology, location quickly a kind of accurate positioning device based on Hall orientation system and localization method, inventor's problem to be solved just.
Summary of the invention
For the deficiencies in the prior art, it is an object of the invention to provide a kind of accurate positioning device based on Hall orientation system and localization method, its system structure is simple, and location is the most accurately.
nullThe technical solution adopted for the present invention to solve the technical problems is: a kind of accurate positioning device based on Hall orientation system and localization method，It includes alignment system、Walking mechanism，Described alignment system is by hall probe、Telescoping mechanism、Installing plate、Motor forms，Described motor is arranged on a mounting board，Described telescoping mechanism passes motor，Described telescoping mechanism one end connects hall probe，Described alignment system is arranged on the bottom of walking mechanism，Described telescoping mechanism is by the tooth bar of the gear that modulus is 0.5、Insulated column、Bearing forms，Described motor is bolted on installing plate by two，The location of described tooth bar is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes，Described bearing is miniature bearing，Described miniature bearing quantity is four，The linear movement direction of tooth bar is carried out positioning tooth bar by described miniature bearing，Described hall probe is to be made up of four Hall elements and peripheral circuit，Described four Hall elements are decussation distribution；Described walking mechanism is made up of motor of walking, driving plate, road wheel, and described walking motor is connected with road wheel by driving plate.
A kind of accurate positioning method based on Hall orientation system, comprises the steps of
1) walking mechanism is put in ground nonmagnetic matrix, Arduino2560 master control borad drive stepping motor is moved, tooth bar is made to travel forward 200MM, tooth bar moves to above the earth magnetism of front end with the hall probe of front end, Arduino2560 master control borad is by reading the signal autocorrection direction of four Hall elements, realize location, then walking mechanism is allowed to move forward a small step, flexible hall probe 11 shrinks therewith, and feed back the position at relative walking mechanism body center of now popping one's head in, thus realize self poisoning.
2) when walking mechanism needs to turn to, can first move to the surface of an earth magnetism, then hall probe 11 be stretched out 200mm, rotate in place, when probe detects next earth magnetism, i.e. complete accurate 90-degree rotation.
The invention has the beneficial effects as follows:
1, the present invention designs the telescopic hall probe of selection, coordinate walking mechanism, realization is accurate to the other location of grade, the magnetic orientation system traditionally that makes up can only be in the defect of earth magnetism reference point location, realize being accurately positioned of position between adjacent earth magnetism reference point, the a set of hall probe of increase is proposed by the present invention, expansion link, the alignment system that motor is constituted, location algorithm is realized based on Arduino, reach being accurately positioned of optional position between two earth magnetism anchor points, without improving earth magnetism anchor point density, and realize the effect accurately turned to of an angle of 90 degrees and multiple angle thereof, there is system structure simple, location is the most accurate to be worth.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is polycrystalline substance schematic diagram of the present invention.
Fig. 3 is elevated bottom perspective structural representation of the present invention.
Fig. 4 is hall probe structural representation in the present invention.
Fig. 5 is control circuit annexation schematic diagram of the present invention.
Description of reference numerals: 1-alignment system；11-hall probe；12-telescoping mechanism；13-motor；14-Hall element；15-tooth bar；
3-walking mechanism；31-walks motor；32-drives plate；33-road wheel.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is expanded on further, it should be appreciated that these embodiments are merely to illustrate the present invention rather than limit the scope of the present invention.In addition, it is to be understood that after having read the content that the present invention lectures, the present invention can be made various changes or modifications by those skilled in the art, these equivalent form of values also fall within application appended claims limited range.
Seeing Fig. 1-4, the present invention includes alignment system 1, walking mechanism 3；Walking mechanism 3 is made up of walking motor 31, driving plate 32, road wheel 33, and walking motor 31 is connected with road wheel 33 by driving plate 32.
See Fig. 1-4, alignment system 1 is made up of hall probe 11, telescoping mechanism 12, installing plate, motor 13, and motor 13 arranges on a mounting board, and telescoping mechanism 12 is through motor 13, telescoping mechanism 12 one end connects has hall probe 11, alignment system 1 to be arranged on the bottom of walking mechanism 3.
See Fig. 1-4, telescoping mechanism 12 is by the tooth bar 15 of the gear that modulus is 0.5, insulated column, bearing forms, motor 13 is bolted on installing plate by two, the location of tooth bar 15 is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes, bearing is miniature bearing, miniature bearing quantity is four, the linear movement direction of tooth bar is carried out positioning tooth bar by miniature bearing, can rolling friction on miniature bearing, the so motion of tooth bar 15 Relative friction accurately and between minimizing tooth bar 15 and fixed plate, ensure that mechanism convert rotational motion be in line motion accuracy and reliability.
nullSee Fig. 4，Hall probe 11 is to be made up of four Hall elements 14 and peripheral circuit，Four Hall elements 14 are distributed in decussation，With reference to earth magnetism anchor point，Walking mechanism is coordinated to realize self orientation adjustment，Being accurately positioned of optional position between two earth magnetism anchor points can be realized，And realize accurately turning to of an angle of 90 degrees and multiple angle thereof，Hall element 14 can accurately induce the magnetic field of 12mm strong magnetic disk，When the centre distance Hall element 14 of strong magnetic disk is within 10mm，That is exportable induced signal of Hall element 14，4 Hall elements 14 with decussation branch around earth magnetism at 10MM，When popping one's head in left avertence when，The Hall element 14 on the left side will detect signal，Output pin is to one low level of panel，Panel will adjust the position of walking mechanism to the left，Other direction is by that analogy，4 Hall elements 14 correct the position deviation on four direction respectively，Walking mechanism is made to adjust self orientation.
Ground magnetic orientation mode is divided into route pattern and matrix pattern, so-called route pattern refers to lay earth magnetism according to fixed route, and matrix pattern refers to lay earth magnetism with fixed interval, owing to matrix pattern can arbitrarily change track route by change program, so matrix pattern application is the most extensive in actual application, the walking mechanism station-keeping mode of this project is also to use matrix pattern, and the interval of each earth magnetism reference point is 200mm.
Walking mechanism is put in ground nonmagnetic matrix, Arduino2560 master control borad drive stepping motor 13 is moved, tooth bar 15 is made to travel forward 200MM, tooth bar 15 moves to above the earth magnetism of front end with the hall probe 11 of front end, Arduino2560 master control borad is by reading the signal autocorrection direction of four Hall elements 14, realize location, then walking mechanism is allowed to move forward a small step, flexible hall probe 11 shrinks therewith, and feed back the position at relative walking mechanism body center of now popping one's head in, thus realize self poisoning.
When walking mechanism needs to turn to, can first move to the surface of an earth magnetism, then hall probe 11 be stretched out 200mm, rotate in place, when probe detects next earth magnetism, i.e. complete accurate 90-degree rotation.
See Fig. 5, Arduino2560 is master control borad, realizing being accurately positioned needs to design the positioning probe that Hall element 14 is distributed in ad-hoc location, then telescoping mechanism is designed, design automatic control algorithm, arduino2560 realizes, makes four-wheel drive walking mechanism chassis, write and debug the program of being automatically positioned.
The induction range of experiment test Hall element is as follows:
Write a simple test program:
voidsetup()
{
PinMode (3, INPUT)；// connect Hall module DO digital output mouth
PinMode (4, OUTPUT)；// connecing LED positive pole, another terminates negative pole
DigitalWrite (4, LOW)；Do not work under // normal condition
}
voidloop()
{
If the low level signal of the Hall element output of // detection, LED is bright, otherwise goes out.
If (digitalRead (3)==LOW；) digitalWrite (4, HIGH)；
ElsedigitalWrite (4, LOW)；//
}
The circular strong magnetic of 1mm thickness that Hall element can sense immediately below it in 15mm distance is found, when strong magnetic biasing is away from Hall element vertical centrage 10mm beyond induction range through test.
The present invention designs the telescopic hall probe 11 of selection, coordinate walking mechanism, realization is accurate to the other location of grade, the magnetic orientation system traditionally that makes up can only be in the defect of earth magnetism reference point location, realize being accurately positioned of position between adjacent earth magnetism reference point, the a set of hall probe of increase is proposed by the present invention, expansion link, the alignment system that motor is constituted, location algorithm is realized based on Arduino, reach being accurately positioned of optional position between two earth magnetism anchor points, without improving earth magnetism anchor point density, and realize the effect accurately turned to of an angle of 90 degrees and multiple angle thereof, there is system structure simple, location is the most accurate to be worth.
Claims (2)
- null1. an accurate positioning device based on Hall orientation system and localization method，It is characterized in that: it includes alignment system、Walking mechanism，Described alignment system is by hall probe、Telescoping mechanism、Installing plate、Motor forms，Described motor is arranged on a mounting board，Described telescoping mechanism passes motor，Described telescoping mechanism one end connects hall probe，Described alignment system is arranged on the bottom of walking mechanism，Described telescoping mechanism is by the tooth bar of the gear that modulus is 0.5、Insulated column、Bearing forms，Described motor is bolted on installing plate by two，The location of described tooth bar is by putting into insulated column fixed interval (FI) in the middle of two pieces of gripper shoes，Described bearing is miniature bearing，Described miniature bearing quantity is four，The linear movement direction of tooth bar is carried out positioning tooth bar by described miniature bearing，Described hall probe is to be made up of four Hall elements and peripheral circuit，Described four Hall elements are decussation distribution；Described walking mechanism is made up of motor of walking, driving plate, road wheel, and described walking motor is connected with road wheel by driving plate.
- A kind of accurate positioning method based on Hall orientation system the most according to claim 1, it is characterised in that: method comprises the steps of1) walking mechanism is put in ground nonmagnetic matrix, Arduino2560 master control borad drive stepping motor is moved, tooth bar is made to travel forward 200MM, tooth bar moves to above the earth magnetism of front end with the hall probe of front end, Arduino2560 master control borad is by reading the signal autocorrection direction of four Hall elements, realize location, then walking mechanism is allowed to move forward a small step, flexible hall probe 11 shrinks therewith, and feed back the position at relative walking mechanism body center of now popping one's head in, thus realize self poisoning.2) when walking mechanism needs to turn to, can first move to the surface of an earth magnetism, then hall probe 11 be stretched out 200mm, rotate in place, when probe detects next earth magnetism, i.e. complete accurate 90-degree rotation.
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| CN201610142832.6A CN105824312B (en) | 2016-03-14 | 2016-03-14 | A kind of accurate positioning device and localization method based on Hall orientation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502245A (en) * | 2016-10-08 | 2017-03-15 | 广西大学 | The adaptive sunshade regulating system in place |
| CN108089575A (en) * | 2016-11-23 | 2018-05-29 | 苏州宝时得电动工具有限公司 | From positioning device for mobile equipment and method |
| CN109342983A (en) * | 2018-11-09 | 2019-02-15 | 安徽工程大学 | A kind of Hall sensor calibrating installation and its calibration scaling method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886934A (en) * | 2009-05-14 | 2010-11-17 | 曾卫东 | Positioning method and system based on hall element |
| JP2012247241A (en) * | 2011-05-26 | 2012-12-13 | Sumitomo Wiring Syst Ltd | Current detector |
| CN205427615U (en) * | 2016-03-14 | 2016-08-03 | 徐知非 | Fine positioning device based on hall positioning system |
-
2016
- 2016-03-14 CN CN201610142832.6A patent/CN105824312B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101886934A (en) * | 2009-05-14 | 2010-11-17 | 曾卫东 | Positioning method and system based on hall element |
| JP2012247241A (en) * | 2011-05-26 | 2012-12-13 | Sumitomo Wiring Syst Ltd | Current detector |
| CN205427615U (en) * | 2016-03-14 | 2016-08-03 | 徐知非 | Fine positioning device based on hall positioning system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502245A (en) * | 2016-10-08 | 2017-03-15 | 广西大学 | The adaptive sunshade regulating system in place |
| CN106502245B (en) * | 2016-10-08 | 2019-08-23 | 广西大学 | The adaptive sunshade regulating system in place |
| CN108089575A (en) * | 2016-11-23 | 2018-05-29 | 苏州宝时得电动工具有限公司 | From positioning device for mobile equipment and method |
| CN109342983A (en) * | 2018-11-09 | 2019-02-15 | 安徽工程大学 | A kind of Hall sensor calibrating installation and its calibration scaling method |
| CN109342983B (en) * | 2018-11-09 | 2024-03-29 | 安徽工程大学 | Hall sensor calibration device and calibration method thereof |
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| CN105824312B (en) | 2018-09-25 |
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Effective date of registration: 20180813 Address after: 276000 1713 international B building, Kaiyuan Road, Jin Shan Shan Road, Lanshan District, Linyi, Shandong Applicant after: Shandong Tuo step Education Technology Co., Ltd. Address before: 276000 Linyi road fourth middle school, Ji'nan road and monhe Road Interchange, Linyi, Shandong Applicant before: Xu Zhifei |
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Address after: 276000 Yimeng Yungu a406a407, economic development zone, Linyi City, Shandong Province Patentee after: Shandong Tuo Bu education and science Co.,Ltd. Address before: 276000 1713 international B building, Kaiyuan Road, Jin Shan Shan Road, Lanshan District, Linyi, Shandong Patentee before: Shandong Tuo Bu education and science Co.,Ltd. |