CN105841691A - Electromagnetic navigation apparatus and system - Google Patents
Electromagnetic navigation apparatus and system Download PDFInfo
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- CN105841691A CN105841691A CN201610151442.5A CN201610151442A CN105841691A CN 105841691 A CN105841691 A CN 105841691A CN 201610151442 A CN201610151442 A CN 201610151442A CN 105841691 A CN105841691 A CN 105841691A
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- electromagnetic
- navigation device
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- magnetic sensing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
Abstract
The invention discloses an electromagnetic navigation apparatus and system, which can predict the future direction trend of any point on an electromagnetic wire. The electromagnetic navigation apparatus comprises an inductor, wherein the inductor comprises two electromagnetic sensing units which are arranged on same or different planes parallel to a horizontal plane and form a certain included angle in a horizontal direction.
Description
Technical field
The present invention relates to electromagnetic navigation technical field, be specifically related to a kind of electromagnetic navigation Apparatus and system.
Background technology
Electromagnetic navigation as the one of airmanship, its have simple in construction, low cost, be easily maintained, dependable performance, sense
The advantage answering distance, is gradually applied in the robot system of various dependence huntings navigation.
Line walking navigation refers to, the reference orbit run as robot by electromagnetic path or track, specially one or many
Root cable (can be layed in the position such as ground or underground, use as fixed reference track), and cable is internal to be handed over by high frequency sinusoidal
Stream electricity is nearby to produce the alternating electromagnetic field by sinusoidal rule change, thus provides detectable physical signalling for robot,
Run by this electromagnetic field physical signalling is carried out line walking as guiding, thus realize navigation feature.
Fig. 1 show the schematic layout pattern of electromagnetic transducer in existing electromagnetic navigation robot, from Fig. 1 (a) it can be seen that
This inspection robot system includes electromagnetic wire 10,11,3 electromagnetic transducers 12 of robot, and these 3 electromagnetic transducers 12 line up one
Row, is connected in robot 11, is from left to right each electromagnetic transducer 12 number consecutively 1,2,3, and is each electromagnetism
A steering angle A (such as, being from left to right followed successively by :-20 °, 0 °, 20 °) preset by sensor 12.When being numbered 3 in robot
During the electromagnetic induction electromotive force maximum that electromagnetic transducer 12 detects, this electromagnetism being numbered 3 is passed by the control system of robot
Sensor is labeled as effectively, and controls robot according to the steering angle being numbered corresponding to the electromagnetic transducer of 3, i.e. 20 °, adjusts fortune
Line direction, thus realize hunting and run.In this case, not necessarily can be located just at being numbered the electromagnetism biography of 3 due to electromagnetic wire
The underface of sensor 12, it is also possible to be numbered between the electromagnetic transducer of 2 and the electromagnetic transducer being numbered 3, Er Qiegeng
Near be numbered 3 electromagnetic transducer, now the electromagnetic transducer being numbered 3 still can be labeled as by the control system of robot
Effect, therefore, robot still needs to remove to adjust traffic direction, so, just according to the steering angle being numbered corresponding to the electromagnetic transducer of 3
Certain error can be caused.
Therefore, prior art additionally provides the robot system of layout as shown in Fig. 1 (b), i.e. by increasing electromagnetic sensing
The quantity of device 12, increases the probability that electromagnetic wire is located just at the underface of some electromagnetic transducer 12, thus reduces such as Fig. 1
A probability that in (), like error occurs.But, too much electromagnetic transducer 12 is installed for the installing space of robot 11, knot
Configuration shape etc. has the biggest restriction.
Fig. 1 (c) provides a kind of robot system including double electromagnetic transducer, and Fig. 1 (d) is that the local of Fig. 1 (c) is put
Big figure.For the structure of this double electromagnetic transducer is arranged compared to single electromagnetic transducer, electromagnetic wire can be obtained further
Future directions trend (this future directions trend can be reflected by deviation angle D in Fig. 1 (d)) in arbitrfary point.Such as Fig. 1
C, shown in (), this robot system includes the double electromagnetic transducer of a, b 12, when robot 11 is in optional position on electromagnetic wire
Time, each row can have an electromagnetic transducer 12 to be marked as effectively.Such as, it is positioned at the position as shown in Fig. 1 (c) when robot
When putting, a row is numbered and the electromagnetic transducer 12 and b row of 6 is numbered the electromagnetic transducer 12 of 7 is all marked as effectively, this
Time be possible not only to know the position (being numbered electromagnetic transducer 12 position of 7 in b row) of electromagnetic wire, it is also possible to obtain electromagnetic wire
Future directions trend (a row is numbered during the electromagnetic transducer 12 of 6 is arranged relative to b the side of the electromagnetic transducer 12 being numbered 7
To), the steering angle that now robot is actual is, steering angle A corresponding to electromagnetic transducer that b row is numbered 7 carries out the deviation angle
For the angle value after the correction of D so that robot runs more steady.
But, for double electromagnetic transducer, need that a is arranged electromagnetic transducer 12 and be arranged on robot as far as possible
The front end of 11, to know orbit information in advance and to judge, and the installing space of robot is proposed higher by this structure
Requirement, meanwhile, the cost of double electromagnetic transducer 12 itself is the highest, and above-mentioned factor significantly limit existing airmanship
Large scale application.
For Zong He, in the prior art, when robot has single sensor, it is impossible to realize electromagnetic wire future side
To the prediction of trend, when only having double sensor, just can realize the prediction to electromagnetic wire future directions trend, but so
Volume and cost to robot are proposed higher requirement.
Summary of the invention
In view of this, embodiments provide a kind of electromagnetic navigation device, just can be to electromagnetic wire when being used alone
The future directions trend of upper arbitrfary point is made prediction.
One embodiment of the invention provides a kind of electromagnetic navigation device, and including induction apparatus, described induction apparatus includes two electricity
Magnetic sensing unit, said two electricity magnetic sensing unit be arranged in in the identical or different plane of plane-parallel, and at water
Square form an angle the most mutually.
Another embodiment of the present invention additionally provides a kind of electromagnetic navigation system, and this system includes that at least one is as above
Electromagnetic navigation device.
Utilize a kind of electromagnetic navigation device that the embodiment of the present invention provides, by two one-tenth one clamps arranged on horizontal plane
The electric magnetic sensing unit at angle, can detect two components of the electromagnetic intensity of any point directly over electromagnetic wire, with this two
Trend can be moved towards by be calculated that electromagnetic wire locates at an arbitrary position based on individual component.
When this electromagnetic navigation device is in electromagnetic navigation robot system, single electromagnetic navigation is only set in robot
Device just can obtain the future directions trend of electromagnetic wire, decreases the demand of quantity to electromagnetic navigation device, thus saves
The space of robot, reduces cost simultaneously.
Accompanying drawing explanation
Fig. 1 show the schematic layout pattern of electromagnetic transducer in existing electromagnetic navigation robot.
Fig. 2 show the signal processing circuit block diagram of the electromagnetic navigation device that one embodiment of the invention provides.
Fig. 3 show the electromagnetic wire peripheral electromagnetic field distribution schematic diagram that one embodiment of the invention provides.
Fig. 4 show on the electromagnetic wire that one embodiment of the invention provides electromagnetic intensity and its component of any point it
Between position relationship schematic diagram.
Fig. 5 show the electromagnetic intensity of any point and electromagnetic wire on the electromagnetic wire that one embodiment of the invention provides and exists
Position relationship schematic diagram between the future directions trend of this point.
Fig. 6 show the structural representation of the electromagnetic navigation system that one embodiment of the invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under not making creative work premise
Execute example, broadly fall into the scope of protection of the invention.
Fig. 2 show the signal processing circuit block diagram of the electromagnetic navigation device that one embodiment of the invention provides.Can from figure
To find out, this electromagnetic navigation device includes induction apparatus 20, collecting unit 24, solving unit 25.
Wherein, induction apparatus 20 includes two solenoids 201 and 202 that are horizontally disposed and that form an angle mutually.Two electricity
The electromagnetic wave signal each detected is sent into same collecting unit 24 by magnetic coil 201 and 202.Here, solenoid is one
Plant the electric magnetic sensing unit measuring variation magnetic field.It will be understood to those skilled in the art that the electricity that can also use other here
Magnetic sensing unit, is not construed as limiting this.
Collecting unit 24, is converted to electromagnetic field intensity for the electromagnetic wave simulation signal detected by two solenoids,
Because electromagnetic field intensity is vector, the electromagnetic field intensity obtained the most here had both included the size of electromagnetic field intensity, i.e. mould, also wrapped
Include the direction of electromagnetic field intensity.The electromagnetic field intensity of collecting unit 24 output is imported into solving unit 25.
Solving unit 25, communicates to connect with collecting unit 24, for two electromagnetic field intensities according to collecting unit 24 output
The size and Orientation of degree, it is judged that electromagnetic wire is in the future directions trend of inspection positions.
Solving unit 25 according to two horizontally disposed and mutually form an angle solenoid 201 and 202 is described below
The detailed process that the electromagnetic wave signal detected calculates accordingly.
As shown in Fig. 3 (a), 3 (b), owing to the magnetic field around electromagnetic wire is a vector field, the direction of its magnetic induction line meets
Therefore the right-hand screw rule of Maxwell, if placed electromagnetic wire in the horizontal plane, then the magnetic induction directly over electromagnetic wire
The direction of intensity is just parallel to the horizontal plane at this electromagnetic wire place, and the vertically distance of distance electromagnetic wire is the most remote, electromagnetism sense
The numerical value (i.e. mould) answering intensity is the least.In this case, the solenoid formed an angle mutually of two horizontal positioned is used, just
Two components of magnetic induction at differing heights can be detected directly over distance electromagnetic wire.
Due to, the electromagnetic intensity of its any point for endless electromagnetic wire(wherein, μ0=4 π *
10-7mA-1, r is the vertical height of test point distance electromagnetic wire), so the electromagnetic intensity B of any point on electromagnetic wire
Size can obtain according to the vertically height r of the electric current in electromagnetic wire with test point distance electromagnetic wire, therefore is regarded as here
The amount of knowing.
Therefore in the size of electromagnetic intensity B, and in the case of the size and Orientation of two component is all known, so that it may
According to the angle between electromagnetic intensity B and two component, to obtain the direction of electromagnetic intensity B.
Below by the derivation of equation, the solution procedure of the angle between electromagnetic intensity B and two component is said
Bright.
Fig. 4 show on the electromagnetic wire that one embodiment of the invention provides electromagnetic intensity and its component of any point it
Between position relationship schematic diagram.As it can be seen, the angle preset between two solenoids 201 and the axis of 202 is θ, i.e.
For in figureAngle, the component of the electromagnetic intensity that two solenoids 201 and 202 detect is respectively
B1And B2, electromagnetic intensity B is definite value, and we can select solenoid 201 for reference to solenoid, it is assumed that electromagnetic induction
Angle between intensity B and reference solenoid 201 is α, the most known θ, B, B1、B2, seek α.
Obtain according to the relation shown in Fig. 3:
Can obtain
Owing to trigonometric function has symmetry, therefore can obtain two angle values according to each equation, thus obtain:
From 4 angle values, select one of equal or close (antitrigonometric function is likely to occur approximation), be angle [alpha]
Actual value.
Cite an actual example below, above formula derivation is verified.If B=1, θ=90 °,
Can be in the hope of:
Thus obtain the axis B with reference to solenoid 2011It it is 60 ° with the angle α of actual electromagnetic induction B, the most separately
The axis B of one solenoid 2022It it is 30 ° with the angle of actual electromagnetic induction B.
It is considered that the annular electromagnetic field with electromagnetic wire as axis can be produced around electromagnetic wire, then bend when electromagnetic wire
During deformation, the electromagnetic field formed deflects as well as the bending of electromagnetic wire, as shown in Fig. 3 (c).Therefore can be according to description
The direction of the physical quantity of electromagnetic field, i.e. electromagnetic intensity judges the direction of electromagnetic wire, thus to arbitrfary point on electromagnetic wire
Future directions trend is made prediction, and on electromagnetic wire, the future directions trend of arbitrfary point can inclined by as shown in Fig. 1 (d)
To angle, D weighs, and so, the problem asking for electromagnetic wire direction is just converted into the problem asking for deviation angle D.Below by formula
Derivation explanation deviation angle D ask for process.
Fig. 5 show the electromagnetic intensity of any point and electromagnetic wire on the electromagnetic wire that one embodiment of the invention provides and exists
Position relationship schematic diagram between the future directions trend of this point.Based on Fig. 1 (d), for the ease of describing, by current location
It is labeled as O point, selectsAs reference direction, owing to the future directions trend of electromagnetic wire isCan according to right-hand screw rule
Knowing, the direction of magnetic induction line is vertical and the direction of electromagnetic wire, in figureShown in, can be joined according to calculating process above
Examine the angle α between solenoid 201 and magnetic induction density B, it will be understood to those skilled in the art that reference coil here
Can also be 202, the most exemplary, this is not construed as limiting.ThenWithAngle be (90 ° of-α), again because ginseng
Examine the axis direction of solenoid 201It is artificial setting, Bu FangsheWithBetween angle be β, thenWithAngle, i.e. deviation angle D=90 °-alpha-beta.
In a preferred embodiment, the direction, axis with reference to solenoid 201 is setJust it is perpendicular to machine
The direction of advance of device people, i.e.WithBetween angle be β be 90 degree, then according to derivation result above, nowWithAngle, i.e. deviation angle D=-α (wherein "-" represents direction).
It will be understood to those skilled in the art that the actual value of deviation angle D depends on choosing with reference to solenoid, with
And the angle between two solenoids, the result that the embodiment of the present invention is given is exemplary, every in present invention calculating
Deviation angle D obtained on the basis of principle, within broadly falling into protection scope of the present invention.
It will be appreciated by those skilled in the art that the electromagnetic navigation device according to the various embodiment of the present invention, its induction apparatus
In two sensing unit can also be arranged in in the Different Plane of plane-parallel, follow-up can change with passing ratio
Calculate, two sensing electromagnetic intensity components of detecting of unit are normalized on same plane, the most still can be according to
Above-mentioned calculating process solves deviation angle D.
When electromagnetic navigation device according to embodiment of the present invention is used alone, it is possible to export the electricity at its position
The deviation angle of magnet-wire, and then the future directions trend of electromagnetic wire can be predicted.
In actual use, detection position, in addition to required electromagnetic wave signal, there is also a lot of extraneous electricity
The impact of magnetic wave, the electromagnetic wave that such as earth's magnetic field, radio magnetic field etc. are formed, in order to obtain required electromagnetic wave signal,
Needing electromagnetic wave signal solenoid being detected to screen, therefore, in an embodiment of the invention, electromagnetic navigation fills
Put and can further include frequency selection circuit 21, for from the electromagnetic field signal detected by the solenoid being electrically connected
Filter out the electromagnetic wave signal of required characteristic frequency.It is concrete as in figure 2 it is shown, this frequency selection circuit 21 is positioned at sensor 20 and adopts
Between collection unit 24.In one embodiment, frequency selection circuit 21 can be RC frequency selection circuit or LC frequency selection circuit.
In view of time actually used, required electromagnetic wave signal typically can be the most weak, such as, usually used as path navigation
Electromagnetic wire in the ac frequency that passes through be 20kHz, it can produce VLF electromagnetic wave, and the frequency of VLF electromagnetic wave is usual
For 3kHz～30kHz, signal is the most weak.Therefore, in one embodiment, electromagnetic navigation device can further include amplification
Circuit 22, for being amplified the electromagnetic wave signal filtered out.It is concrete as in figure 2 it is shown, this amplifying circuit 22 is positioned at frequency-selecting electricity
After road 21, can electrically connect with frequency selection circuit 21.In one embodiment, can also electricity after each amplifying circuit 22
Connect a filter circuit 23, for the electromagnetic wave signal after amplifying is screened further, guarantee that acquisition is required
The signal of characteristic frequency, the most as shown in Figure 2.It will be understood by those skilled in the art that in some embodiment, this electromagnetism
It is one or more that guider can only include in frequency selection circuit 21, amplifying circuit 22 and filter circuit 23.
Describe below and the electromagnetic navigation device described in above example of the present invention is applied to electromagnetic navigation system
In application example.
Fig. 6 show the structural representation of the electromagnetic navigation system that one embodiment of the invention provides.Such as Fig. 6 institute
Showing, this electromagnetic navigation system includes the electromagnetic navigation device no less than and processing means (not shown), and this is no less than
The electromagnetic navigation device of one forms single array and is arranged on position forward under robot.No less than an electromagnetic navigation
Electromagnetic intensity component on two different directions at its position is detected by device respectively, and each output is corresponding
Deviation angle D.Processing means is used for selecting effective electromagnetic navigation device from least one electromagnetic navigation device, and according to this
Steering angle C after effective electromagnetic navigation device computer device people correction.Finally, steering angle C can be exported by processing means
To the controller of robot, the controller of robot controls robot and adjusts direction of advance according to the steering angle C after revising, from
And realize electromagnetic navigation.
In one embodiment, processing means includes:
Presetting module, for presetting a steering angle for each described electromagnetic navigation device；
Acquisition module, for obtaining the electromagnetism sense that the reference solenoid of each described electromagnetic navigation device detects
Answer strength component；
Comparison module, the electromagnetism that the reference solenoid in each the electromagnetic navigation device described in comparing detects
The size of induction component, selects a maximum electromagnetic intensity component output；Select module, for will with described
The electromagnetic navigation device that a big electromagnetic intensity component is corresponding is labeled as effectively；
Output module, for exporting the steering angle C=k1*A+k2*D after correction, wherein A and D is respectively effective electromagnetism
Steering angle that guider is corresponding and the deviation angle, k1, k2 are variable correction factor.
Variable adjusted coefficient K 1, K2, need rationally to arrange according to the system structure of robot.Such as, electromagnetic navigation is worked as
When apparatus array is installed farther out for robot, correction factor can be smaller, because the most in advance to electromagnetic wire
Direction trend is modified；When electromagnetic navigation apparatus array is installed nearer for robot, correlation coefficient needs
Somewhat larger to ensure fully to revise.When the robot speed of service is very fast, be equivalent to electromagnetic navigation apparatus array relative to machine
Device people is close together, then correction factor needs larger；Similarly, when the robot speed of service is slower, then correction factor is relatively
Little.When steering mechanism's action is slower, correction factor needs somewhat larger, to ensure to revise in advance；Similarly, steering mechanism is worked as
When action is very fast, correction factor is less.Also need to the operational effect according to robot time actually used be finely adjusted, if easily
Outlet (i.e. have little time revise out-of-bounds) then increases correction factor, excessive causes robot significantly to swing back and forth if adjusted,
Reduce correction factor.
In one embodiment, processing means can be come by a set of programming code being stored in the memorizer of robot
Realizing, when the program code in this memorizer is performed, the processor of robot can perform process described above device
Corresponding function.
According to the electromagnetic navigation system of present embodiment, use single electromagnetic navigation device just can realize on electromagnetic wire
The prediction of the future directions trend of arbitrfary point, decreases the demand of quantity to electromagnetic navigation device, thus saves robot
Space, reduce cost simultaneously.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any amendment of being made, equivalent etc., should be included within the scope of the present invention.
Claims (10)
1. an electromagnetic navigation device, including induction apparatus, it is characterised in that described induction apparatus includes two electric magnetic sensing unit,
Said two electricity magnetic sensing unit is arranged in in the identical or different plane of plane-parallel, and is mutually in the horizontal direction
Certain angle.
Electromagnetic navigation device the most according to claim 1, it is characterised in that farther include collecting unit, for by institute
State the electromagnetic wave simulation signal that two electric magnetic sensing unit detect and be converted to two electromagnetic intensity components, described electromagnetism sense
Strength component is answered to include size and Orientation.
Electromagnetic navigation device the most according to claim 2, it is characterised in that farther include solving unit, adopts with described
Collection unit communication connects, and two electromagnetic intensity components for exporting according to described collecting unit calculate the deflection of electromagnetic wire
Angle, wherein, what the described deviation angle was used for describing described electromagnetic wire moves towards trend.
Electromagnetic navigation device the most according to claim 3, it is characterised in that described solving unit includes:
Computing module, for calculating the direction of electromagnetic intensity according to two described electromagnetic intensity components, further according to
Described in the direction calculating of described electromagnetic intensity, electromagnetic wire moves towards trend.
Electromagnetic navigation device the most according to claim 4, it is characterised in that described computing module farther includes:
Setting module, for being set to one of them described electricity magnetic sensing unit with reference to electricity magnetic sensing unit；
Electromagnetic intensity directions calculation module, for according to two described electromagnetic intensity components, calculates described reference
Angle between electricity magnetic sensing unit and described electromagnetic intensity；
Electromagnetic wire directions calculation module, for according to the folder between described reference electricity magnetic sensing unit and described electromagnetic intensity
Angle, calculates the deviation angle of described electromagnetic wire.
Electromagnetic navigation device the most according to claim 5, it is characterised in that described solving unit farther includes:
Acquisition module is strong for two electromagnetic induction detected from described collecting unit acquisition said two electricity magnetic sensing unit
The size and Orientation of degree component；
Output module, is used for exporting the described deviation angle, angle between the described deviation angle and said two electricity magnetic sensing unit and
The described selection with reference to electricity magnetic sensing unit is relevant.
7. an electromagnetic navigation system, it is characterised in that include at least one electromagnetic navigation as described in claim 1-6 is arbitrary
Device.
Electromagnetic navigation system the most according to claim 7, it is characterised in that at least one electromagnetic navigation device described forms
Single array, is arranged on position forward under robot.
Electromagnetic navigation system the most according to claim 8, it is characterised in that further, including processing unit, for basis
The deviation angle that at least one electromagnetic navigation device described exports respectively, calculates the steering angle after revising.
Electromagnetic navigation system the most according to claim 9, it is characterised in that described processing unit includes:
Presetting module, for presetting a steering angle for each described electromagnetic navigation device；
Acquisition module, for obtaining the electromagnetism sense that the reference electricity magnetic sensing unit of each described electromagnetic navigation device detects
Answer strength component；
Comparison module, the electromagnetism that the reference electricity magnetic sensing unit in each the electromagnetic navigation device described in comparing detects
The size of induction component, selects a maximum electromagnetic intensity component output；
Select module, for being labeled as by the electromagnetic navigation device corresponding with described maximum electromagnetic intensity component
Effectively；
Output module, for exporting the steering angle C=k1*A+k2*D after correction, wherein A and D is respectively effective electromagnetic navigation
Steering angle that device is corresponding and the deviation angle, k1, k2 are variable correction factor.
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| CN201610151442.5A CN105841691A (en) | 2016-03-17 | 2016-03-17 | Electromagnetic navigation apparatus and system |
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| CN201610151442.5A Pending CN105841691A (en) | 2016-03-17 | 2016-03-17 | Electromagnetic navigation apparatus and system |
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| WO2021249217A1 (en) * | 2020-06-10 | 2021-12-16 | 纳恩博（北京）科技有限公司 | Electric mobile device, charging pile, and method for controlling electric mobile device |
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