CN200944257Y - Magnetic nail positioning navigation magnetic sensor - Google Patents
Magnetic nail positioning navigation magnetic sensor Download PDFInfo
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- CN200944257Y CN200944257Y CN 200620098193 CN200620098193U CN200944257Y CN 200944257 Y CN200944257 Y CN 200944257Y CN 200620098193 CN200620098193 CN 200620098193 CN 200620098193 U CN200620098193 U CN 200620098193U CN 200944257 Y CN200944257 Y CN 200944257Y
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- magnetic
- coil
- magnetic sensor
- amplifying circuit
- iron core
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Abstract
The utility model relates to a magnetic nail positioning and navigation magnetic sensor, which comprises a magnetic resistance coil(1), an iron core(5), and an amplify circuit(3). The magnetic resistance coil (1) is sleeved on the iron core(5) and has both ends connected with the input terminal of the amplify circuit(3). The output terminal of the amplify circuit is connected with an industrial controlling computer of a vehicle robot guiding system via A/D transition. The basic work principle of the utility model is that: magnetic testing coil is designed according to the Ferrari law of electromagnetic induction, the magnetic signal passing through the real-time detecting magnetic track is output by the amplify circuit directly to an A/D data collecting card of the industrial controlling computer of the vehicle robot guiding system for analog-to-digital converting, and finally the signal data is provided to the industrial controlling computer. The industrial controlling computer will control the operation of vehicle according to the data achieved. The utility model adopts magnetic resistance coil detecting device instead of Hall element detect device, which is real-time and accurate in measurement, and low in cost, wherein the price of the magnetic sensor is only several YUAN.
Description
Technical field
The utility model relates to the Vehicular automatic driving intelligent transportation system, is specifically related to magnetic track pin location navigation system in the intelligent transportation system, especially for the Magnetic Sensor that detects magnetic track nail magnetic field intensity.
Background technology
Magnetic is induced the Vehicular automatic driving intelligent transportation system of control mode, is the Vehicular automatic driving intelligent transportation system of research comparative maturity, and magnetic is induced in the control mode more common in the magnetic markers navigation mode again.The Vehicular automatic driving intelligent transportation system of magnetic markers navigation mode mainly comprises: be embedded in magnetic track nail, Vehicular automatic driving system on the road in advance; Vehicular automatic driving system comprises the industrial computer that is arranged on the vehicle, is arranged on the Magnetic Sensor on the vehicle; The output terminal of Magnetic Sensor is connected with industrial computer, industrial computer control vehicle operating.The principle of work of this system is: bury the magnetic track nail on road in advance underground, the Magnetic Sensor on the vehicle comes the perception magnetic track to follow closely magnetic field intensity on every side and the signal that obtains is imported industrial computer; Industrial computer according to the result of its measurement position corresponding with it relatively after, draw lateral direction of car or vertical misalignment controlled quentity controlled variable control the travelling of vehicle, thereby realize the automatic driving of vehicle.
Magnetic track pin location navigation magnetic sensor be the chief component that signal receives in the whole Vehicular automatic driving system, so its design and development importance is self-evident as signal supervisory instrument.At present, the domestic and international magnetic track pin location navigation magnetic sensor that in Vehicular automatic driving system, uses, all adopt special-purpose Hall element pick-up unit, originally adopt the magnetic sensor of Honeywell HMC1033 as certain research and development institution of Japan, and three Magnetic Sensor of research and development afterwards etc., these adopt the Magnetic Sensor of Hall element, and cost is too high, the price of a Magnetic Sensor is unfavorable for the popularization and the development of Vehicular automatic driving technology more than thousand yuan.
Summary of the invention
Technical problem to be solved in the utility model is: a kind of cheap magnetic track pin location navigation magnetic sensor is provided.
The utility model solves the problems of the technologies described above the technical scheme that is adopted:
A kind of magnetic track pin location navigation magnetic sensor, it comprises reluctance coil, iron core, amplifying circuit, and reluctance coil is enclosed within on the iron core, and the reluctance coil two ends are connected with the input end of amplifying circuit; The output terminal of amplifying circuit is connected with the industrial computer of Vehicular automatic driving system by the A/D conversion.
In the such scheme, Magnetic Sensor also comprises coil case, and reluctance coil, iron core are arranged in the coil case.
In the such scheme, Magnetic Sensor also comprises installing plate, and amplifying circuit, coil case are arranged on the installing plate.
In the such scheme, amplifying circuit is the amplifying circuit with filter function.
In the such scheme, the number of turn of reluctance coil is: 8000-10000.
Basic functional principle of the present utility model is: according to the Ferrari law of electromagnetic induction, the design magnetic test coil, detect the field signal of magnetic track nail in real time by coil, after amplifying circuit output, signal directly enters the A/D data collecting card of the industrial computer of Vehicular automatic driving system, after carrying out analog-to-digital conversion process, offer industrial computer, industrial computer is controlled the operation of vehicle according to measured data.
Compared with prior art, the utlity model has following advantage:
1, replace the Hall element pick-up unit with the coil magnetic detection device, measure in real time accurately, cost is low, and the price of Magnetic Sensor has only dozens of yuan.
2, can adjust signal amplification factor easily, simple to operate.
3, reluctance coil, iron core are arranged in the coil case, and coil magnetic detection device and circuit part are separated, and can avoid the mutual interference mutually between coil magnetic detection device and the circuit part.
4, amplifying circuit, coil case are arranged on the installing plate, and amplifying circuit, coil magnetic detection device are become one, and volume is little, simple in structure, and the phase mutual interference in the system between the components and parts is little.
5, amplifying circuit is the amplifying circuit with filter function, can effectively reduce the noise of output signal, improves the accuracy of output signal.
6, for the consideration of Magnetic Sensor output accuracy and volume, the number of turn of reluctance coil is 8000-10000 the best.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment
Fig. 2 is the circuit diagram of the utility model embodiment
Embodiment
The utility model embodiment as shown in Figure 1, it is a magnetic track pin location navigation one dimension Magnetic Sensor, it comprises reluctance coil 1, iron core 5, amplifying circuit 3, coil case 2, installing plate 4.Reluctance coil 1 is enclosed within on the iron core 5, and reluctance coil 1, iron core 5 are arranged in the coil case 2; Amplifying circuit 3, coil case 2 are arranged on the installing plate 4.Amplifying circuit 3 is for having the amplifying circuit of filter function.
The reluctance coil 1 of the utility model embodiment is selected the line footpath 0.04mm-0.08mm of copper cash for use, and number of turns is the 8000-10000 circle; Iron core 5 is that cylindrical (r=0.8-1.2cm h=2.6-3.0cm), adopts the electrical pure iron iron core.
As shown in Figure 2, reluctance coil 1 two ends are connected with the input end of amplifying circuit 3; Output end vo ut+, the Vout-of amplifying circuit 3 is connected with the industrial computer of Vehicular automatic driving system by the A/D conversion; Magnetic Sensor is by Vin+, Vin-input power supply.
Amplifying circuit with filter function adopts RC low pass and bandpass filtering mode, and R4 is an adjustable resistance, can push away to such an extent that its enlargement factor is k=1+R4/R3 according to mimic channel, and the enlargement factor scope is 0.5-10 times.
The utility model embodiment uses when installing, and installing plate 4 can be fixed on the front and back bumper of testing equipment or vehicle, the orientation of its axis ground of iron core 5.Insert the 18V power supply, when travelling on vehicle is being embedded with the road surface of magnetic track nail, the coil magnetic detection device of being made up of reluctance coil 1 and iron core 5 detects magnetic signal, and the amplifying circuit filtering through having filter function is exported after amplifying.
Claims (5)
1, a kind of magnetic track pin location navigation magnetic sensor is characterized in that: it comprises reluctance coil (1), iron core (5), amplifying circuit (3), and reluctance coil (1) is enclosed within on the iron core (5), and reluctance coil (1) two ends are connected with the input end of amplifying circuit (3); The output terminal of amplifying circuit (3) is connected with the industrial computer of Vehicular automatic driving system by the A/D conversion.
2, Magnetic Sensor as claimed in claim 1 is characterized in that: it also comprises coil case (2), and reluctance coil (1), iron core (5) are arranged in the coil case (2).
3, Magnetic Sensor as claimed in claim 2 is characterized in that: it also comprises installing plate (4), and amplifying circuit (3), coil case (2) are arranged on the installing plate (4).
4, Magnetic Sensor as claimed in claim 1 is characterized in that: amplifying circuit (3) is for having the amplifying circuit of filter function.
5, Magnetic Sensor as claimed in claim 1 is characterized in that: the number of turn of reluctance coil (1) is: 8000-10000.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620098193 CN200944257Y (en) | 2006-07-31 | 2006-07-31 | Magnetic nail positioning navigation magnetic sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620098193 CN200944257Y (en) | 2006-07-31 | 2006-07-31 | Magnetic nail positioning navigation magnetic sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200944257Y true CN200944257Y (en) | 2007-09-05 |
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ID=38718893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620098193 Expired - Fee Related CN200944257Y (en) | 2006-07-31 | 2006-07-31 | Magnetic nail positioning navigation magnetic sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200944257Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101387522B (en) * | 2008-09-02 | 2011-04-27 | 吉林大学 | Magnetic guide sensor |
| CN103345847A (en) * | 2013-07-26 | 2013-10-09 | 武汉理工大学 | Identification method for polyspectra magnetic road line and vehicle-mounted induction system |
| CN105043381A (en) * | 2015-06-30 | 2015-11-11 | 广东嘉腾机器人自动化有限公司 | Magnetic nail-based positioning method |
-
2006
- 2006-07-31 CN CN 200620098193 patent/CN200944257Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101387522B (en) * | 2008-09-02 | 2011-04-27 | 吉林大学 | Magnetic guide sensor |
| CN103345847A (en) * | 2013-07-26 | 2013-10-09 | 武汉理工大学 | Identification method for polyspectra magnetic road line and vehicle-mounted induction system |
| CN105043381A (en) * | 2015-06-30 | 2015-11-11 | 广东嘉腾机器人自动化有限公司 | Magnetic nail-based positioning method |
| CN105043381B (en) * | 2015-06-30 | 2018-10-19 | 广东嘉腾机器人自动化有限公司 | A kind of localization method based on magnetic nail |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070905 Termination date: 20100731 |