CN110174100A - The localization method of mobile target in a kind of fixed area and or fixed route - Google Patents
The localization method of mobile target in a kind of fixed area and or fixed route Download PDFInfo
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- CN110174100A CN110174100A CN201910516992.6A CN201910516992A CN110174100A CN 110174100 A CN110174100 A CN 110174100A CN 201910516992 A CN201910516992 A CN 201910516992A CN 110174100 A CN110174100 A CN 110174100A
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a kind of localization methods of mobile target in fixed area and or fixed route, it includes the steps that: 1) by the fixed area of mobile target pathway and or fixing line k-path partition at K sections, N number of position sensor is equipped in every section, it include a resistance in each position sensor, N number of resistance in N number of position sensor in every section is connected by conducting wire；2) it is the uniqueness of the resistance value of guarantee resistance, constraint condition is arranged to the N number of resistance for choosing N number of position sensor into each section；3) when mobile target pathway section, the resistance of some or certain several position sensors in the section is short-circuited, controller acquires the total resistance value changed in section in real time and carries out comparison of tabling look-up, the specific section thus to obtain mobile target pathway and the specific position location in section.The present invention constructs, and wiring amount is few, and structure is simply at low cost, and maintenance is convenient, therefore has a large promotion value.
Description
Technical field
The present invention relates to mobile targets in a kind of localization method more particularly to a kind of fixed area and or fixed route
Localization method.
Background technique
Currently, within the specified scope, the object of vehicle or movement in such as advancing is positioned and is just like had become
When next more active research field.In common several positioning methods, is such as combined and tracked using GPS or dipper system
Guiding is positioned, and often because communication signal is walked due to underground decaying is serious, there are the drawbacks that use environment is limited；And it utilizes and takes the photograph
As the positioning under the mobile target image progress image recognition of head acquisition often exists, algorithm is complicated, at high cost, execution is slow-footed
It is insufficient；If can then have that line is too many, maintenance cost is high using row choosing and the matrix fixation and recognition that combines of column selection, it is long away from
Situation about being not suitable for from ambient scene.
In real production and living, for such as underground coal mine, underground garage, ocean, the GPS such as tunnel or this kind of signal of Beidou
Be difficult to reach in region mobile target positioning be also it is indispensable, by taking coal mine as an example, with the continuous expansion of development end, in addition
Operating personnel's shift is more, and mobility is big, changes in real time by the position of the haulage vehicle of representative, quantity information of locomotive, though
It so can use the deficiency that more mature wireline communication network makes up signal decaying, but need to assist installation on haulage vehicle
The relative complex wireless position sensor of structure realizes the positioning of mobile target；Increase underground maintenance of electric device cost as a result,.
This is not consistent with the original design intention that underground equipment requires high reliability, maintenance cost low, but also product is difficult to promote.And mining area
The target positioning relation of haulage vehicle to production scheduling correct implementation, and improve production efficiency and Mine Safety in Production weight
Want a ring, it is necessary to be paid attention to.Especially in reply underground sudden accident, although administrative staff can be by monitoring to well
Lower information is observed, but the more specific location information of the mobile target such as vehicle and personnel for being difficult to timely acquisition accident section, often
The waste of rescue time is caused, this leaves hidden danger to mining area safety rescue.Therefore, a kind of easy to implement, maintenance cost is obtained
The localization method of low mobile target is imperative.
Summary of the invention
It is an object of the invention to overcome in existing localization method, exists and implement deficiency inconvenient, that maintenance cost is high, mention
Out in a kind of fixed area and or fixed route mobile target localization method.
To achieve the goals above, present invention employs following technical solutions:
The localization method of mobile target in a kind of fixed area and or fixed route, it include the steps that be:
1) by the fixed area of mobile target pathway and or fixing line k-path partition at K section, be scattered in each section
N number of position sensor, K ∈ natural number；N ∈ natural number, N≤80；It include a resistance, the electricity in each position sensor
The resistance value of resistance is greater than zero and less than ten megohm, and N number of resistance of N number of position sensor in each section passes through conducting wire string
Connection, each one-to-one real-time N number of series electrical for acquiring the N number of position sensor being connected in section of A D interface connected to the controller
The total resistance value of resistance；
It 2) is the uniqueness for ensureing collected total resistance value, the selected N number of position sensing got in each section
The constraint condition of N number of resistance of device are as follows: the resistance value of the resistance in each position sensor is different；N number of position
The sum of the resistance value of the resistance that any number combines in sensor is different；Any number combines in N number of position sensor
The sum of the resistance value of the resistance it is different between the resistance value of the resistance in each position sensor be in uniqueness；And
And N number of position sensor repeats to be laid in K section；
3) certain as mobile target pathway fixed area and or fixed route, in the section in N number of position sensor
A or certain several position sensor the resistance are short-circuited, and lead to the total of the series resistance of N number of position sensor in the section
Resistance value changes, and each A D interface acquires the total resistance value changed in corresponding jointing in real time and is sent to control
Device processed, controller determine corresponding section in conjunction with the address code of the A D interface, and to the collected change of institute in the section
The total resistance value of change carries out comparison of tabling look-up, thus obtain mobile target pathway specific fixed area and or fixed route and
The region and or route in specific position location.
In the step 2), in each section, N number of position sensor is determined as 8.
The resistance value for the resistance that 8 position sensors include is respectively 3 Ω, 31 Ω, 53 Ω, 71 Ω, 89 Ω, 97
Ω,103Ω,109Ω。
In the step 2), in each section, N number of position sensor is determined as 4, including described in
The resistance value of resistance is respectively 1 Ω, 2 Ω, 5 Ω, 11 Ω.
In the step 2), in each section, N number of position sensor is determined as 5, including described in
The resistance value of resistance is respectively 3 Ω, 5 Ω, 7 Ω, 11 Ω, 17 Ω.
In the step 2), in each section, N number of position sensor is determined as 6, including described in
The resistance value of resistance is respectively 3 Ω, 5 Ω, 7 Ω, 17 Ω, 31 Ω, 37 Ω.
In the step 2), in each section, N number of position sensor is determined as 7, including described in
The resistance value of resistance is respectively 3 Ω, 7 Ω, 17 Ω, 31 Ω, 59 Ω, 61 Ω, 67 Ω.
The position sensor includes substrate, the first binding post and the second binding post is equipped on the substrate, described
Between first binding post and the second binding post bridging have the resistance, between first binding post and the second binding post also across
Be connected to the normally opened contact of travel switch, the wraping plate contact on the travel switch be mounted on mobile target by way of fixed area and
Or fixing line road is in case triggering, the substrate is additionally provided with a pair of first fixing hole close to lower end position, in the lower end of substrate
It is also connected on the side of side and is horizontally mounted edge, the edge that is horizontally mounted is mutually perpendicular to the substrate, in the horizontal peace
Dress is along equipped with a pair of second fixing hole.
Inventive principle is:
The application is intended to position the mobile target in fixed area and or fixed route, because of region and road
Relatively fixed, therefore, technical staff is easy to take the laying position sensor in the region of mobile target pathway or road real
Apply positioning activity.Although the application also lays position sensor, used position sensor simultaneously non-used conventional is determined
Position chip, core component is unexpected is realized using low-cost resistance for positioning.And to ensure controller contraposition
The resistance in sensor is set to acquire fast and lay convenience in big region, long distance line, it will in the technical program
Mobile target pathway region and or road be segmented, be divided into K section, N number of position sensor be designed in each section,
Share KN position sensor.Simultaneously in view of target more than one mobile in route, when target tightening at one for multiple movements
When in section, mobile target touches travel switch, in one or more position sensors where making mobile target in section
Resistance causes the resistance of N number of resistance of the section and value to be changed to N-1 or N-2 or N-3 by the normally opened contact short circuit of travel switch
The resistance and value of or N-4 ... N- (N-1) or N-N=0 resistance, in view of the N number of resistance of composition in same section resistance value with
And the sum of resistance and each single resistance after the combination of the sum of resistance presented after any number resistance combination, any number
It is all different between resistance value, ensures that collected resistance is all unique unique to controller every time to the section with this
Value.
It has illustrated and has shown to be provided only with a resistance in a position sensor, due to constituting all-in resistance in a section
The resistance value of the resistance of resistance value and any number combination of N number of resistance of value is different, therefore controller can be according to change
It is that the resistance of which or which position sensor is shorted that total resistance value after change, which is instead released, so be can be realized for more
A movement realizes that specifically positioning determines in section when target tightening in a section.
Similarly, if mobile target is located in different sections, controller is first with the corresponding acquisition one of an A D interface
The address code of a section；It obtains such as K section, K-1 section ... region to address, then subdivides into each section and adopt
Positioning method when target tightening in a section with multiple movements as described above is determined, final to obtain in certain section
Or the judgement of the Moving objects location at specific which or which position sensor of certain several section.
For each section, the setting of N number of position sensor is consistent in section, guarantees controller acquisition with this
The uniqueness of the resistance value of resistance in each section, therefore controller can use A D interface to each section real-time perfoming number one by one
According to acquisition, track the sum of resistance value of N number of resistance in N number of position sensor in each section real-time change and N number of electricity
Resistance and its any amount combination and be worth mutually different constraint condition, can ensure the sum of resistance value of N number of resistance each time
Change all corresponds to some resistance or certain several resistance is shorted, also with regard to meaning the position for having mobile target to trigger somewhere or a few places
Its resistance is caused to be shorted after setting the travel switch in sensor, and the sum of the resistance value of N number of resistance after being shorted is different
Unique value, the unique value is created as table in advance, controller can by table look-up obtain unique corresponding resistance and, this is unique right
Answer resistance and be by certain movement target or certain specific location of several mobile targets in each section cause change in resistance to cause
, therefore the one-to-one anti-position released in certain movement target or certain each section in several mobile targets places may be implemented
The infield of sensor so far also just obtains the specified place position where mobile target.
The present invention chooses core component of the series resistance as position sensor, and data acquisition is divided into an A D interface pair
A section should be acquired, runing time is effectively reduced, effectively improves the quick of program response.In construction, only connect in a section
Two series conductors are connected to, construction wiring amount greatly reduces, and the resistance value of series resistance is caused with mobile target triggering travel switch
The sum of variation, the specified place position of section, thus brings structure simple, maintenance where cleverly obtaining mobile target
Good result at low cost；Has biggish promotional value.
Detailed description of the invention
Fig. 1 is flow diagram of the present invention；
Fig. 2 is the application position sensing system composition schematic diagram；
Fig. 3 position sensor structure of the main view；
Fig. 4 is the schematic side view of Fig. 3；
Wherein:
1. controller, 2. sections, 3.AD interface, 4. position sensors, 5. first binding posts, 6. are horizontally mounted edge, 7.
One fixing hole, 8. resistance, 9. second fixing hole, 10. travel switches, 11. substrates.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
In the mining area of coal mine, hauling operation often is carried out in fixed area and or fixed road using transport locomotive,
Positioning to transport locomotive is important link in Mine haul scheduling, and concerning the important of production efficiency and Mine Safety in Production
Often there is the deficiencies of construction is cumbersome, and cost is high, location response and limited precision, therefore Fig. 1-in content, existing locating scheme
A kind of localization method of locomotive in the fixed area in mining area and or fixed route is provided in Fig. 4, it include the steps that be:
1) mining area for transporting locomotive approach is divided into K section, is equipped with N number of position sensor 4, K ∈ in each section 2
Natural number, N≤80；N ∈ natural number, includes a resistance 8 in each position sensor 4, and 8 resistance value of resistance is greater than zero and is less than
Ten megohms, N number of resistance 8 in N number of position sensor 4 in each section 2 is connected by conducting wire, the input with controller 1
The A D interface 3 of interface connection acquires the total resistance value of N number of series resistance 8 of N number of position sensor 4 in each section 2 in real time；
Microcontroller or industrial personal computer PC etc. can be used in controller 1.5 volts of voltages can be used in VCC.When necessary, controller can be connected
Industry 485 or other data/address bus or wireless launcher are realized acquisition signal being transferred to control centre at a distance, convenient
Controllers more preferably obtain data.
2) it is the uniqueness for ensureing collected total resistance value, chooses N number of position sensor into each section 2
The constraint condition of 4 N number of resistance 8 are as follows: 8 resistance value of resistance of each position sensor 4 is different, appoints in N number of position sensor 4
The sum of 8 resistance value of resistance of number of anticipating combination is different, the sum of 8 resistance value of resistance that any number combines in N number of position sensor 4
Different between 8 resistance value of resistance of each position sensor 4 is in uniqueness, also, N number of position sensor 4 repeats to lay
In K section 2；
3) some or certain several positions when transporting locomotive approach section, in N number of position sensor 4 of the section 2
The resistance value of sensor 4 is short-circuited, and the total resistance value of the series resistance 8 of N number of position sensor 4 in the section is caused to become
Change, each A D interface acquires the total resistance value changed in corresponding jointing 2 in real time and is sent to controller, controller
Determine corresponding section 2 in conjunction with the address code of the A D interface, and in the section 2 collected variation all-in resistance
Value carries out comparison of tabling look-up, thus obtain mobile target pathway specific fixed area and or fixed route and in the region and or
Specific position location in route.
Embodiment 1, in step 2), in each section 2, N number of position sensor 4 is determined as 8, wherein respectively packet
8 resistance value of resistance included is respectively 3 Ω, 31 Ω, 53 Ω, 71 Ω, 89 Ω, 97 Ω, 103 Ω, 109 Ω.
Embodiment 2, in step 2), in each section 2, if N number of position sensor 4 is determined as 4, wherein respectively
It is respectively 1 Ω, 2 Ω, 5 Ω, 11 Ω from 8 resistance value of resistance for including.
Embodiment 3, in step 2), in each section, if N number of position sensor 4 is determined as 5, wherein respectively
Including 8 resistance value of resistance be respectively 3 Ω, 5 Ω, 7 Ω, 11 Ω, 17 Ω.
Embodiment 4, in step 2), in each section 2, if N number of position sensor 4 is determined as 6, wherein respectively
Including 8 resistance value of resistance be respectively 3 Ω, 5 Ω, 7 Ω, 17 Ω, 31 Ω, 37 Ω.
Embodiment 5, in step 2), in each section 2, if N number of position sensor 4 is determined as 7, wherein respectively
Including 8 resistance value of resistance be respectively 3 Ω, 7 Ω, 17 Ω, 31 Ω, 59 Ω, 61 Ω, 67 Ω.
The position sensor 4 includes substrate 11, and the first binding post 5 and the second binding post are equipped on the substrate 11,
Bridging has resistance 8 between first binding post 5 and the second binding post, first binding post 5 and the second binding post it
Between also bridging have the normally opened contact of travel switch 10, the wraping plate contact on the travel switch 10 is mounted on mobile target by way of area
In case triggering, the substrate 11 are additionally provided with a pair of first fixing hole 7, in base close to lower end position in the horizontal direction in section
It is also connected with and is horizontally mounted along 6 on the side of the lower end side of plate 11, described be horizontally mounted mutually is hung down along 6 with the substrate 11
Directly, a pair of second fixing hole 9 is equipped with along 6 in described be horizontally mounted.First fixing hole 7, the second conduct of fixing hole 9
Mounting hole.Can be according to specific environment, the first fixing hole 7 is from side, the second fixing hole 9 from bottom surface using bolt to position
Sensor 4 is fixed, and such as substrate 11 can be fixed on the side such as track from side by the first fixing hole 7, meet locomotive
Wheel rolls triggering to the wraping plate contact on travel switch 10.
The technical program is mainly fixing plant area for transporting locomotive in fixed area and or fixed road
And device as shown in Figure 2 is arranged along trapped orbit, when locomotive passes through the device somewhere, at this in position sensor 4
Travel switch 10 is pressed, and is 8 short circuit of resistance of R by resistance value, spacing setting can refer to locomotive, vehicle between position sensor 4
The length of case is arranged, in this way in section 2, all resistance 8 in the section 2 are connected by two conducting wires, total electricity after series connection
Resistance 8 and value variation are corresponding with the position of 10 closing point of travel switch in the section 2, similarly, there along multiple travel switches
It can also determine when 10 closing points are depressed and be depressed in what position.Travel switch 10 can using Omron D4MC-5000 or
Other have the travel switch 10 of normally opened contact.
Using embodiment 2 as illustrating, in a section, four positions the selection to the resistance value of resistance: are equal to N
For sensor, wherein four resistances for respectively including are respectively 1 Ω, 2 Ω, 5 Ω, 11 Ω.All-in resistance and value are 1 Ω+2
+ 11 Ω of Ω=19 of+5 Ω of Ω, and the resistance value for meeting the resistance 8 of each position sensor 4 is different；Four position sensors 4
Between any number combination the sum of 8 resistance value of resistance it is different, the resistance that any number combines between four position sensors 4
The different constraint condition in uniqueness of resistance value of the sum of 8 resistance values and the resistance 8 of each position sensor 4；Constraints above is protected
The sum of resistance 8 that card controller is read otherwise be the sum of all-in resistance that non-resistance is short-circuited or be a unique position or
The resistance 8 of multiple and different positions be short-circuited after the sum of, thus the and a kind of corresponding unique resistance combination mode of each and value may be used
It is specifically that several resistance 8 is short-circuited with anti-release, i.e., has corresponded to 4 position of which position sensor, specifically with this
It is obtained with the specific location of locomotive.
When no vehicle is in the road section, without short circuit, the number of combinations that this kind of situation occurs is four resistance 8I.e. a kind；Controller is 19 Ω by the total resistance value that A D interface obtains variation；It is short compared with being made the difference with all-in resistance and value
The resistance and value on road are zero.
When having in vehicle and the only road a Liang Gai section, the section 2 is by the place road section unique vehicle short circuit, group
Closing quantity isI.e. 4 kinds；Controller is 18 Ω, 17 Ω, 14 Ω, 8 Ω by the total resistance value that A D interface obtains variation；With it is total
Resistance makes the difference with value and compares, and controller obtains the resistance being short-circuited by A D interface and value is respectively 1 Ω, 2 Ω, 5 Ω, 11
Ω。
Similarly, when having vehicle and in the section of the road Liang Lianggai, the number of combinations for causing two resistance 8 to be short-circuited isI.e. 6 kinds, controller is 16 Ω, 13 Ω, 7 Ω, 12 Ω, 6 Ω, 3 Ω by the total resistance value that A D interface obtains variation；With it is total
Resistance makes the difference with value and compares, and controller obtains the resistance for any two resistance being short-circuited by A D interface and value is 3 Ω, 6
Ω、12Ω、7Ω、13Ω、16Ω。
Similarly, when having vehicle and in three road Liang Gai sections；Number of combinations isI.e. 4 kinds；Controller is connect by AD
The total resistance value that mouth obtains variation is 11 Ω, 5 Ω, 2 Ω, 1 Ω；Compared with making the difference with all-in resistance and value, controller is connect by AD
Mouth obtains the resistance for any three resistance being short-circuited and value is 8 Ω, 14 Ω, 17 Ω, 18 Ω.
Similarly, when having vehicle and in four road Liang Gai sections, 4 resistance 8 are short-circuited,；Number of combinations isControl
Device processed is 0 Ω by the total resistance value that A D interface obtains variation；I.e. a kind；Compared with making the difference with all-in resistance and value, controller passes through
A D interface obtains the resistance being short-circuited and value is 19 Ω.
Controller is short-circuited according to the total resistance value of variation in conjunction with 19 Ω of the total resistance value total resistance value for subtracting variation
Resistance and value, the place of locomotive approach (is transported in the anti-position for releasing short-circuit resistance and corresponding position sensor in table
Position), the dominant term that controller is tabled look-up includes the following: that wherein, the resistance and one column of value being short-circuited may also act as to anti-knot
Fruit is cooked further audit check item and existed.
Wherein, it in serial number 1, does not switch to be closed at and is represented by region the case where there has been no mobile target pathways.
And in serial number 16, then the reverse be true, 1 and 2 and 3 and No. 4 switch is closed to be expressed as transporting locomotive whole area in the region in be led to
The case where crossing.
Resistance 8 after 8 resistance value of resistance of aforementioned four position sensor and the combination of any number of four position sensors
The sum of resistance value is all different in unique resistance value, in this way, when four any one resistance 8 of position sensor or multiple electricity in section 2
After resistance 8 is short-circuited, the still corresponding unique value of the sum of composed new resistance in the section 2.This meets N number of position sensor 4
Between any number combination the sum of 8 resistance value of resistance it is different, the resistance 8 that any number combines between N number of position sensor 4
The different constraint condition in uniqueness of resistance value of the sum of resistance value and the resistance 8 of each position sensor 4.As a result,
Ensure the judgement of the specific location of different accurate acquisition one or more transport locomotives in some section.
It in the presence of transporting locomotive in multiple sections, can be obtained by Fig. 2, the corresponding acquisition one of each A D interface
The real-time total resistance value of section, and the address code of the connectivity port of each A D interface and controller be also it is known in advance,
Controller will form the corresponding pass mapped one by one to the data that the acquisition of each A D interface comes with the specific location of collected section
System, therefore, what controller can first impressions are strongest according to the acquisition of A D interface sampled result is sampled from which section position.It is sharp again
With it is above-mentioned table look-up to obtain short-circuit resistance position is specifically corresponded in the section, that is, obtain the position that locomotive approach is specifically transported in the section
It sets, finally synthesizing is to have to position knot existing for transport locomotive on some or certain several specific locations in that several section
Fruit.
For including four position sensors in each section, and the sum of resistance is up to 19 Ω, then connect with controller
Sampling A D interface quantization minimum the precision of 5 A D interfaces can be used because 5 A D interfaces can represent 4 groups of strokes
Each total resistance value under 16 kinds of assembled states of switch.And travel switch and resistor coupled in parallel are used, two conducting wires can will be same
Each resistance series connection in one section, so that equipment is simple；Different sections respectively correspond independent couple of conductor, correspond to independent one
A A D interface, field connection is simple, implements economy, and Costco Wholesale is extremely low, so that whole device advantage is more prominent.
Similarly in embodiment 1, embodiment 3, embodiment 4, embodiment 5, a section is respectively adopted five, six, seven, eight
A position sensor, this is identical as above-mentioned the case where carrying out positioning judgement to mobile target using four position sensors, only
Positioning spacing is more segmented precisely.When N number of position sensor is determined as 8 ,+53 Ω+71 of+31 Ω of the sum of resistance 3 Ω of maximum
Numerical value after+109 Ω=556 Ω, AD quantization of+103 Ω of Ω+97 Ω of+89 Ω, can be expired completely using the A D interface of 10 precision
Foot needs.There are commonly TLC1549, TLV1549 (single channels) for 10 binary A D interfaces, and U.S. letter semiconductor can also be used
MAX1057/MAX1058,16 tunnels are single-ended or 8 road Differential Inputs (unipolarity or bipolarity) or the higher A D interface of other digits,
In short, reduction implementation cost is selection principle as far as possible while ensureing the acquisition of real time resistance total value.These are conventional known
Technology, those skilled in the art are familiar with, and are not listed one by one and repeat.
As a result, the present invention in specific embodiment description, be not that the spirit and scope of the present invention are defined,
Under the premise of not departing from technical solution of the present invention, any modification and improvement that those of ordinary skill in the art make technical solution
Protection scope of the present invention will be still fallen within.
Claims (8)
1. the localization method of mobile target in a kind of fixed area and or fixed route, characterized in that it include the steps that be:
1) by the fixed area of mobile target pathway and or fixing line k-path partition at K section, be scattered in each section N number of
Position sensor, K ∈ natural number；N ∈ natural number, N≤80；It include a resistance, the resistance in each position sensor
Resistance value be greater than zero and less than ten megohms, N number of resistance of N number of position sensor in each section passes through conducting wire string
Connection, each one-to-one real-time N number of series electrical for acquiring the N number of position sensor being connected in section of A D interface connected to the controller
The total resistance value of resistance；
It 2) is the uniqueness for ensureing collected total resistance value, the selected N for getting N number of position sensor in each section
The constraint condition of a resistance are as follows: the resistance value of the resistance in each position sensor is different；N number of position sensor
The sum of the resistance value of the resistance of middle any number combination is different；What any number combined in N number of position sensor is described
Different between the sum of resistance value of resistance and the resistance value of the resistance in each position sensor is in uniqueness；Also, it is N number of
Position sensor repeats to be laid in K section；
3) as mobile target pathway fixed area and or fixed route, in the section in N number of position sensor some or
The resistance of certain several position sensor is short-circuited, and leads to the all-in resistance of the series resistance of N number of position sensor in the section
Value changes, and each A D interface acquires the total resistance value changed in corresponding jointing in real time and is sent to control
Device, controller determine corresponding section in conjunction with the address code of the A D interface, and to the collected variation of institute in the section
Total resistance value carry out comparison of tabling look-up, to obtain the specific fixed area and or fixed route and at this of mobile target pathway
Region and or route in specific position location.
2. the localization method of mobile target in a kind of fixed area as described in claim 1 and or fixed route, characterized in that
In the step 2), in each section, N number of position sensor is determined as 8.
3. the localization method of mobile target in a kind of fixed area as claimed in claim 2 and or fixed route, characterized in that
The resistance value for the resistance that 8 position sensors include is respectively 3 Ω, 31 Ω, 53 Ω, 71 Ω, 89 Ω, 97 Ω, 103
Ω,109Ω。
4. the localization method of mobile target in a kind of fixed area as described in claim 1 and or fixed route, characterized in that
In the step 2), in each section, N number of position sensor is determined as 4, including the resistance resistance
Value is respectively 1 Ω, 2 Ω, 5 Ω, 11 Ω.
5. the localization method of mobile target in a kind of fixed area as described in claim 1 and or fixed route, characterized in that
In the step 2), in each section, N number of position sensor is determined as 5, including the resistance resistance
Value is respectively 3 Ω, 5 Ω, 7 Ω, 11 Ω, 17 Ω.
6. the localization method of mobile target in a kind of fixed area as described in claim 1 and or fixed route, characterized in that
In the step 2), in each section, N number of position sensor is determined as 6, including the resistance resistance
Value is respectively 3 Ω, 5 Ω, 7 Ω, 17 Ω, 31 Ω, 37 Ω.
7. the localization method of mobile target in a kind of fixed area as described in claim 1 and or fixed route, characterized in that
In the step 2), in each section, N number of position sensor is determined as 7, including the resistance resistance
Value is respectively 3 Ω, 7 Ω, 17 Ω, 31 Ω, 59 Ω, 61 Ω, 67 Ω.
8. such as the positioning side of mobile target in a kind of fixed area and of any one of claims 1 to 7 or fixed route
Method, characterized in that the position sensor includes substrate, is equipped with the first binding post and the second binding post on the substrate,
Bridging has the resistance between first binding post and the second binding post, between first binding post and the second binding post
The normally opened contact for having travel switch is also bridged, the wraping plate contact on the travel switch is mounted on mobile target by way of fixed area
With or fixing line road in case triggering, the substrate is additionally provided with a pair of first fixing hole close to lower end position, under substrate
It holds to be also connected on the side of side and is horizontally mounted edge, the edge that is horizontally mounted is mutually perpendicular to the substrate, in the level
Installation is along equipped with a pair of second fixing hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516992.6A CN110174100B (en) | 2019-06-14 | 2019-06-14 | Method for positioning moving target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910516992.6A CN110174100B (en) | 2019-06-14 | 2019-06-14 | Method for positioning moving target |
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