CN114485625A - Track positioning and ranging device and method and unmanned system - Google Patents
Track positioning and ranging device and method and unmanned system Download PDFInfo
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- CN114485625A CN114485625A CN202210098500.8A CN202210098500A CN114485625A CN 114485625 A CN114485625 A CN 114485625A CN 202210098500 A CN202210098500 A CN 202210098500A CN 114485625 A CN114485625 A CN 114485625A
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
Abstract
The invention provides a track positioning and ranging device, a track positioning and ranging method and an unmanned system, wherein the ranging device comprises a ranging module, a conversion module and a calculation module; the distance measurement module comprises at least one path of distance measurement loop connected in parallel; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance from the magnetic generating device is closed; after the magnetic switch at the preset distance is closed, the conversion module carries out digital-to-analog conversion on the differential mode voltage in the ranging loop; the calculation module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage and the measurement length. Based on the device, the invention also provides a distance measurement method and an unmanned system, the invention adopts magnetic induction, has strong environmental adaptability, can be applied to the position detection of an unmanned scene during fixed line tracking, assists in feeding back the current position information of the unmanned AGV, and has accurate positioning.
Description
Technical Field
The invention belongs to the technical field of distance measuring devices, and particularly relates to a track positioning distance measuring device and method and an unmanned system.
Background
As is well known, the positioning and ranging device commonly used in the market at present mainly comprises infrared ranging, laser ranging and ultrasonic ranging, the basic principle is realized by measuring the time phase difference of signal signals, the ranging and positioning device comprises a signal generator, a signal receiver and a calculation control unit, and the working process is as follows: the calculation control unit controls the signal generator to emit a (photoelectric) signal at a time corresponding to t0The object to be measured reflects the transmitted signal, the signal receiver receives the reflected signal, and the time t is1 t1The calculation control unit calculates the time t of the received signal1And the signal transmission time t0Time phase difference Δ t of signal (t ═ t)1-t0And calculating to obtain the distance L ═ C ×. DELTA.t/2 (C is constant light speed, about 3 ×. 10) corresponding to the time phase difference8). The principle of the conventional photoelectric distance measurement is shown in the following figure 1.
The traditional distance measuring method has the following defects: (1) the traditional distance measurement means is a straight line distance between two points, and when the curve motion of the measured object is not in the direction of a distance measurement sensor (straight line), the track position information of the measured object cannot be measured. (2) The interference killing feature is poor, when the measured object front end appears sheltering from the thing suddenly, will lead to the measuring distance inaccurate (for example there is the activity object between range unit and the measured object, and the numerical value of measuring is the distance between this activity object to the range sensor, leads to measuring the distance orbit inaccurate). (3) The environment adaptability is poor, and the dust and oil pollution environment influences the sending and receiving probes, so that the sending signal is weakened, and even the receiving signal can not be sent, and the device can not be used in the dust and oil pollution environment. (4) The requirement of using long-distance measurement cannot be met, the attenuation of (photoelectric) signals is serious during the long-distance measurement, and the signal receiver cannot acquire the time of a reflected signal due to the fact that the reflected signal is weak, so that the distance measurement is invalid.
Disclosure of Invention
In order to solve the technical problems, the invention provides a track positioning and ranging device, a track positioning and ranging method and an unmanned system, wherein photoelectric induction is changed into magnetic induction, the environment adaptability is strong, and the track positioning and ranging device is not influenced by an external nonmagnetic shelter.
In order to achieve the purpose, the invention adopts the following technical scheme:
a track positioning ranging device comprising: the device comprises a distance measurement module, a conversion module and a calculation module;
the distance measurement module comprises at least one parallel distance measurement loop; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance away from the magnetic generating device is closed, and other magnetic switches are all opened;
the conversion module is used for performing digital-to-analog conversion on the differential mode voltage in the distance measurement loop after the magnetic switch at the preset distance is closed;
and the calculation module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage and the measurement length obtained by the conversion module.
Further, the distance measuring device is used for measuring the moving object, and the surface of the measured moving object is provided with a magnetic generating device used for closing at least one magnetic switch.
Further, the conversion module is in communication connection with the calculation module.
Further, the magnetic switch comprises a reed switch.
Furthermore, the calculation module adopts an upper computer or a chip capable of realizing a calculation function.
Further, the magnetism generating means includes a permanent magnet or an energized electromagnetic coil.
The invention also provides a track positioning and ranging method, which comprises the following steps:
receiving the magnetic attraction force from the surface of the detected moving object provided with the magnetic generating device, closing the magnetic switches at the preset distance, and opening other magnetic switches;
after the magnetic switch is closed, performing digital-to-analog conversion on the differential mode voltage in the ranging loop;
and calculating the measurement length according to the corresponding relation between the converted differential mode voltage and the measurement length.
Further, the process of closing the magnetic switch at the predetermined distance is as follows: if the reed switch Kx closest to the permanent magnet is conducted, the equivalent resistance R12 of the starting end point of the distance measuring module is R0+ R1+ - + Rx; the corresponding test distance is Lx;
and realizing resistance voltage conversion by a Wheatstone bridge to obtain:
the voltage at the first input end of the conversion module is:
the voltage at the first input end of the conversion module is:
wherein VCCInputting voltage for two sides of the conversion module; r0Is the resistance value in the first ranging loop.
Further, after the magnetic switch is closed, the process of performing digital-to-analog conversion on the differential mode voltage in the ranging loop is as follows: converting the differential mode voltage Δ V to VP-VnAnd carrying out ADC acquisition and quantization through a differential ADC conversion module.
Further, the process of calculating the measurement length according to the corresponding relationship between the converted differential mode voltage and the measurement length is as follows:
when the permanent magnet is at the distance measurement starting position, the reed pipe K0 is attracted, and R12 is R0, VP＝VnThe differential mode voltage difference delta V of the input of the differential operational amplifier is equal to 0;
when the permanent magnet is at the distance measurement end position, the reed pipe Kn attracts R12 to 2R 0,
differential operational amplifier input differential mode voltage
Differential mode voltage Δ V longThe corresponding relation of the degree distance L is in direct proportion, and the differential mode voltage is
When, the measured distance is Ln(ii) a Wherein L isnIs the distance from the start of the test to the end of the test.
The invention also provides an unmanned system which comprises the track positioning and ranging device.
The effect provided in the summary of the invention is only the effect of the embodiment, not all the effects of the invention, and one of the above technical solutions has the following advantages or beneficial effects:
the invention provides a track positioning and ranging device, a track positioning and ranging method and an unmanned system, wherein the ranging device comprises a ranging module, a conversion module and a calculation module; the distance measurement module comprises at least one path of distance measurement loop connected in parallel; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance away from the magnetic generating device is closed, and other magnetic switches are all opened; the conversion module is used for performing digital-to-analog conversion on the differential mode voltage in the distance measurement loop after the magnetic switch at the preset distance is closed; the calculating module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage obtained by the converting module and the measurement length. The invention also provides a track positioning and ranging method and an unmanned system based on the track positioning and ranging device. Can satisfy straight line and curve position range finding location demand simultaneously, can satisfy long distance range finding location demand, the longest distance measuring is hundreds of kilometers above. And the track positioning and ranging device has simple structure, is easy to produce and manufacture and is suitable for batch production.
The method can be applied to the position detection of the unmanned scene during fixed line tracking, assists in feeding back the current position information of the unmanned AGV, and is more accurate than GPS positioning. Besides, the method can be used for position monitoring feedback of any moving object with a fixed track, such as the opening degree of a valve, the liquid level height and the liquid level of a fuel tank, and can also know the moving speed information of the object.
Drawings
FIG. 1 is a schematic diagram of a conventional photoelectric distance measurement principle;
fig. 2 is a schematic diagram of an overall connection of a track positioning and ranging apparatus according to embodiment 1 of the present invention;
fig. 3 is a circuit diagram of a track positioning and ranging device according to embodiment 1 of the present invention when a reed switch is closed;
fig. 4 is a circuit diagram of a track positioning and ranging device according to embodiment 1 of the present invention when two dry reed pipes are closed;
fig. 5 is a circuit diagram of a track positioning and ranging device according to embodiment 1 of the present invention when a Kx dry reed pipe is closed;
fig. 6 is a circuit diagram of a conversion module according to embodiment 1 of the present invention;
FIG. 7 is a waveform diagram showing the proportional relationship between the differential mode voltage and the measurement length in example 1 of the present invention;
fig. 8 is a flowchart of a track positioning and ranging method according to embodiment 2 of the present invention;
fig. 9 is a schematic view of an unmanned system according to embodiment 3 of the present invention;
1-unmanned systems; 2-a track positioning distance measuring device; 3-measured moving object; 4-a permanent magnet; 5-clarinet; 6-a conversion module; 7-communication interface.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and procedures are omitted so as to not unnecessarily limit the invention.
Example 1
The embodiment 1 of the invention provides a track positioning and ranging device, which comprises a ranging module, a conversion module and a calculation module;
the distance measurement module comprises at least one path of distance measurement loop connected in parallel; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance away from the magnetic generating device is closed, and other magnetic switches are all opened;
the conversion module is used for performing digital-to-analog conversion on the differential mode voltage in the distance measurement loop after the magnetic switch at the preset distance is closed;
the calculation module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage and the measurement length obtained by the conversion module; the computing module adopts an upper computer or a chip capable of realizing computing function, and the conversion module is in communication connection with the computing module.
Fig. 2 is a schematic diagram of an overall connection of a track positioning and ranging apparatus according to embodiment 1 of the present invention; the magnetic switch in embodiment 1 of the invention adopts a reed switch 5.
The distance measuring device is used for measuring the moving object 3, and the surface of the moving object 3 to be measured is provided with a magnetic generating device used for closing at least one magnetic switch; the magnetism generating means comprises a permanent magnet or an electrically energized electromagnetic coil. In embodiment 1, a permanent magnet 4 is used. The scope of protection of the invention is not limited to the apparatus listed in example 1.
The permanent magnet 4 is installed on the surface of the detected moving object 3, the variable resistor body composed of the reed switches 5 and the resistors which are evenly distributed is installed on the fixed running track of the moving object, in addition, the track can be a straight line or a curve, the external processor can conveniently obtain the current position information of the moving object by reading the transmitter signals, and the schematic diagram is as follows:
the reed switch 5 and the resistors are tracks which are arranged at will, can be straight lines and any curves, but are static, and are equivalent to a railway track part, the detected moving object 3 with the permanent magnet 4 is equivalent to a train moving on a corresponding track, only the reed switch 5 which is closest to the permanent magnet 4 is closed, and the other parts are opened, at the moment, the resistor R12 corresponding to the loop is fixed, the larger the resistor R12 is, the larger the differential ADC input voltage VINP is, the larger the delta V voltage difference is, and the larger the corresponding ADC acquisition value is.
Fig. 3 is a circuit diagram of a track positioning and ranging device according to embodiment 1 of the present invention when a reed switch is closed; the reed switch corresponding to the surface of the permanent magnet is in a closed state due to the attraction of enough magnetic force, and other reed switches are in an open state due to the fact that the magnetic force is smaller because the other reed switches are far away from the permanent magnet. That is, one reed switch closest to the permanent magnet is closed, and the others are in an open state.
Fig. 4 is a circuit diagram of the track positioning and ranging device according to embodiment 1 of the present invention when two reed switches are closed; meanwhile, the magnetism of the permanent magnet 4 should be matched with the magnetism of two adjacent reed pipes 5, when the reed pipes 5 are located between the two adjacent reed pipes 5 under ideal conditions, the two reed pipes 5 are in an attraction state, other reed pipes 5 are in a non-attraction state, only one reed pipe 5 close to the permanent magnet 4 is closed under any other conditions, and other reed pipes 5 are in an open state.
In FIGS. 3 and 4, the range of n values is related to the ADC chip resolution, since we use 24-bit ADC as 1-224And n is 1-16,777,216, the uniform distribution interval of the reed switch and the resistor is calculated according to 1mm, and the measured maximum distance is 167km through conservative estimation. When n is 1, the mode may be used for the maximum and minimum limit of the motion trajectory of the moving object, for example, K0 is closed when the door is closed, and K1 is closed when the door is opened.
Fig. 5 is a circuit diagram of a track positioning and ranging device according to embodiment 1 of the present invention when a Kx dry reed pipe is closed;
a plurality of reed pipes which are uniformly distributed under the induction of magnetic force: the reed switches (K0, K1 … Kn) are uniformly distributed, and the normally open contacts of the reed switches are closed due to the magnetic force signal attraction of the external permanent magnet.
Several resistances distributed uniformly: the equivalent resistance between the 1# -2# terminals corresponding to the distance measurement starting point is R12 ═ R0+ R1+. + Rx, and the corresponding distance is Lx because the reed pipe Kx is conducted corresponding to the resistances (R0 ═ R1+ R2+ … + Rn, R1 ═ R2 ═ … ═ Rn) uniformly distributed in the reed pipe.
Fig. 6 is a circuit diagram of the conversion module 6 according to embodiment 1 of the present invention; the equivalent resistance is converted to differential mode voltage by external voltage excitation through a wheatstone bridge. Under the action of the permanent magnet, when the reed pipe Kx closest to the permanent magnet is conducted, the equivalent resistance R12 at the starting end point of the distance measuring module is R0+ R1+. + Rx; the corresponding test distance is Lx;
and realizing resistance voltage conversion by a Wheatstone bridge to obtain:
the voltage at the first input end of the conversion module is:
the voltage at the first input terminal of the conversion module 6 is:
wherein VCCInputting voltage for two sides of the conversion module; r0Is the resistance value in the first ranging loop.
Converting the differential mode voltage Δ V to VP-VnCarry out ADC through difference ADC conversion module and gather the quantization, this application adopts 24 difference ADC CS1237, carries out ADC collection quantization to difference mode voltage delta V, exports through external communication interface 7.
Fig. 7 is a waveform diagram of the proportional correspondence between the differential mode voltage and the measurement length in embodiment 1 of the present invention. When the permanent magnet is at the distance measurement starting position, the reed pipe K0 is attracted, and R12 is R0, VP＝VnThe differential mode voltage difference delta V of the input of the differential operational amplifier is equal to 0;
when the permanent magnet is at the distance measurement end position, the reed pipe Kn attracts R12 to 2R 0,
differential operational amplifier input differential mode voltage
The corresponding relation of the differential mode voltage delta V and the length distance L is in direct proportion, and the differential mode voltage is
When, the measured distance is Ln(ii) a Wherein L isnIs the distance from the start of the test to the end of the test.
The magnetism of the permanent magnet is corresponding to the distance between the reed pipes, which cannot be too small, and can be larger than the distance, only one attraction is needed in an ideal state, if the magnetism of the permanent magnet is too large, a plurality of reed pipes are attracted, the reed pipes are also closed when the current position is deviated to the initial position, so that the current position can be measured to be smaller, for example, an object is normally in a position of 100 meters, the actual measurement is 99 meters due to the attraction of the reed pipes, the magnetism of the permanent magnet is smaller than the magnetism, the reed pipes are all in a disconnected state at a certain moment, and the resistance at the moment is infinite, so that the position information of the current object cannot be reflected.
According to the track positioning and ranging device provided by the embodiment 1 of the invention, the photoelectric sensing is changed into the magnetic sensing, so that the environment adaptability is strong, the track positioning and ranging device can be used in a dust environment, is not influenced by external light, can be used in an oil pollution environment, and is strong in anti-interference performance and not influenced by an external nonmagnetic shielding object. Can meet the requirements of ranging and positioning of straight line and curve positions at the same time. Can long distance measurement location demand, the longest distance measurement is more than hundreds of kilometers, simple structure, and the manufacturing is easy, is fit for batch production.
Example 2
The embodiment 1 of the invention provides a track positioning and ranging device, and the embodiment 2 of the invention also provides a track positioning and ranging method. Fig. 8 is a flowchart of a track positioning and ranging method according to embodiment 2 of the present invention;
in step S800, receiving a magnetic attraction force from a surface of a moving object to be measured on which a magnetic generating device is mounted, so that magnetic switches at a predetermined distance are closed and other magnetic switches are opened;
a plurality of reed pipes which are uniformly distributed under the induction of magnetic force: the reed switches (K0, K1 … Kn) are uniformly distributed, and the normally open contacts of the reed switches are closed due to the magnetic force signal attraction of the external permanent magnet.
In step S810, after the magnetic switch is closed, performing digital-to-analog conversion on the differential mode voltage in the ranging loop; the equivalent resistance is converted into differential mode voltage through external voltage excitation through a Wheatstone bridge;
several resistances distributed uniformly: the equivalent resistance between the 1# -2# terminals corresponding to the distance measurement starting point is R12 ═ R0+ R1+. + Rx, and the corresponding distance is Lx because the reed pipe Kx is conducted corresponding to the resistances (R0 ═ R1+ R2+ … + Rn, R1 ═ R2 ═ … ═ Rn) uniformly distributed in the reed pipe.
Under the action of the permanent magnet, when the reed pipe Kx closest to the permanent magnet is conducted, the equivalent resistance R12 at the starting end point of the distance measuring module is R0+ R1+. + Rx; the corresponding test distance is Lx;
and realizing resistance voltage conversion by a Wheatstone bridge to obtain:
the voltage at the first input end of the conversion module is:
the voltage at the first input end of the conversion module is:
wherein VCCInputting voltage for two sides of the conversion module; r0Is the resistance value in the first ranging loop.
Converting the differential mode voltage Δ V to VP-VnCarry out ADC through difference ADC conversion module and gather the quantization, this application adopts 24 difference ADC CS1237, carries out ADC collection quantization to difference mode voltage delta V, exports through internal communication interface.
In step S820, calculating a measurement length according to the correspondence between the converted differential mode voltage and the measurement length;
when the permanent magnet is at the distance measurement starting position, the reed pipe K0 is attracted, and R12 is R0, VP＝VnThe differential mode voltage difference delta V of the input of the differential operational amplifier is equal to 0;
when the permanent magnet is at the distance measurement end position, the reed pipe Kn attracts R12 to 2R 0,
differential operational amplifier input differential mode voltage
The corresponding relation of the differential mode voltage delta V and the length distance L is in direct proportion, and the differential mode voltage is
When, the measured distance is Ln(ii) a Wherein L isnIs the distance from the start of the test to the end of the test.
According to the track positioning and ranging method provided by the embodiment 2 of the invention, the photoelectric sensing is changed into the magnetic sensing, so that the environmental adaptability is strong, the method can be used in a dust environment, is not influenced by external light, can be used in an oil pollution environment, and is strong in anti-interference performance and not influenced by an external nonmagnetic shielding object. Can meet the requirements of ranging and positioning of straight line and curve positions at the same time. The long-distance measurement positioning requirement can be met, and the longest distance measurement distance is more than hundreds of kilometers.
Example 3
Based on the track positioning and ranging device provided by the embodiment 1 of the invention, the embodiment 3 of the invention also provides an unmanned system. Fig. 9 is a schematic view of an unmanned system according to embodiment 3 of the present invention. The unmanned system 1 comprises a trajectory positioning ranging device 2.
The track positioning and ranging device 2 comprises a ranging module, a conversion module and a calculation module;
the distance measurement module comprises at least one path of distance measurement loop connected in parallel; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance away from the magnetic generating device is closed, and other magnetic switches are all opened;
the conversion module is used for performing digital-to-analog conversion on the differential mode voltage in the distance measurement loop after the magnetic switch at the preset distance is closed; the equivalent resistance is converted into differential mode voltage through external voltage excitation through a Wheatstone bridge;
and the calculation module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage and the measurement length obtained by the conversion module.
The distance measuring device is used for measuring the moving object, and the surface of the moving object to be measured is provided with a magnetic generating device used for closing at least one magnetic switch.
Wherein the conversion module is in communication connection with the calculation module.
The magnetic switch comprises a reed switch.
The calculation module adopts an upper computer or a chip capable of realizing a calculation function.
The magnetism generating means comprises a permanent magnet or an electrically energized electromagnetic coil.
The embodiment 3 of the invention provides an unmanned system 1 which comprises a track positioning and distance measuring device 2, can be applied to position detection of an unmanned scene during fixed line tracking, assists in feeding back current position information of an unmanned AGV and is more accurate than GPS positioning. Besides, the method can be used for position monitoring feedback of any moving object with a fixed track, such as the opening degree of a valve, the liquid level height and the liquid level of a fuel tank, and can also know the moving speed information of the object.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, the scope of the present invention is not limited thereto. Various modifications and alterations will occur to those skilled in the art based on the foregoing description. And are neither required nor exhaustive of all embodiments. On the basis of the technical scheme of the invention, various modifications or changes which can be made by a person skilled in the art without creative efforts are still within the protection scope of the invention.
Claims (11)
1. A track positioning and ranging apparatus, comprising: the device comprises a distance measurement module, a conversion module and a calculation module;
the distance measurement module comprises at least one parallel distance measurement loop; the distance measuring loop is formed by connecting a magnetic switch and a resistor in series; the magnetic switch is positioned on the surface of a measured moving object provided with the magnetic generating device, and under the action of the magnetic generating device, the magnetic switch which is at a preset distance away from the magnetic generating device is closed, and other magnetic switches are all opened;
the conversion module is used for performing digital-to-analog conversion on the differential mode voltage in the distance measurement loop after the magnetic switch at the preset distance is closed;
and the calculation module is used for calculating the measurement length according to the corresponding relation between the differential mode voltage obtained by the conversion module and the measurement length.
2. The apparatus as claimed in claim 1, wherein the apparatus is used for measuring moving objects, and the surface of the moving object is equipped with a magnetic generator for closing at least one magnetic switch.
3. The apparatus as claimed in claim 1, wherein the converting module is communicatively connected to the computing module.
4. The apparatus as claimed in claim 1, wherein the magnetic switch comprises a reed switch.
5. The apparatus according to claim 1, wherein the computing module is an upper computer or a chip capable of implementing computing function.
6. A track positioning and ranging device as claimed in claim 2, characterized in that the magnetic generating means comprise permanent magnets or electrically energized electromagnetic coils.
7. A track positioning and ranging method is characterized by comprising the following steps:
receiving the magnetic attraction force from the surface of the detected moving object provided with the magnetic generating device, closing the magnetic switches at the preset distance, and opening other magnetic switches;
after the magnetic switch is closed, performing digital-to-analog conversion on the differential mode voltage in the ranging loop;
and calculating the measurement length according to the corresponding relation between the converted differential mode voltage and the measurement length.
8. The method as claimed in claim 7, wherein the step of closing the magnetic switch at the predetermined distance comprises: if the reed switch Kx closest to the permanent magnet is conducted, the equivalent resistance R12 of the starting end point of the distance measuring module is R0+ R1+ - + Rx; the corresponding test distance is Lx;
and realizing resistance voltage conversion by a Wheatstone bridge to obtain:
the voltage at the first input end of the conversion module is:
the voltage at the first input end of the conversion module is:
wherein VCCInputting voltage for two sides of the conversion module; r0Is the resistance value in the first ranging loop.
9. The method as claimed in claim 8, wherein after the magnetic switch is closed, the process of performing digital-to-analog conversion on the differential mode voltage in the ranging loop comprises: converting the differential mode voltage Δ V to VP-VnAnd carrying out ADC acquisition and quantization through a differential ADC conversion module.
10. The method as claimed in claim 9, wherein the step of calculating the measurement length according to the corresponding relationship between the converted differential mode voltage and the measurement length comprises:
when the permanent magnet is at the distance measurement starting position, the reed pipe K0 is attracted, and R12 is R0, VP＝VnThe differential mode voltage difference delta V of the input of the differential operational amplifier is equal to 0;
when the permanent magnet is at the distance measuring end position, the reed switch Kn attracts R12 to 2R 0,
differential operational amplifier input differential mode voltage
The corresponding relation of the differential mode voltage delta V and the length distance L is in direct proportion, and the differential mode voltage is
When, the measured distance is Ln(ii) a Wherein L isnIs the distance from the start of the test to the end of the test.
11. An unmanned system comprising a trajectory positioning ranging device as claimed in any one of claims 1 to 6.
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