CN204116955U - Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry - Google Patents
Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry Download PDFInfo
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- CN204116955U CN204116955U CN201420430266.5U CN201420430266U CN204116955U CN 204116955 U CN204116955 U CN 204116955U CN 201420430266 U CN201420430266 U CN 201420430266U CN 204116955 U CN204116955 U CN 204116955U
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Abstract
The utility model relates to a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry, comprising: magnetic is followed closely, and is provided with multiple, and equidistant laying on the ground; Magnetic Sensor, is provided with multiple, in same level, be equidistantly arranged on intelligent vehicle front, and follows closely with described magnetic and arrange in square crossing; Ultrasonic sensor, is arranged on intelligent vehicle, and is arranged on same level height with described Magnetic Sensor; Microcontroller, connects Magnetic Sensor and ultrasonic sensor respectively; CAN communication interface, described microcontroller is connected with entire car controller communication by this CAN communication interface.Compared with prior art, the utility model has brief, strong adaptability, positioning precision advantages of higher.
Description
Technical field
The utility model relates to intelligent automobile technical field, especially relates to a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry.
Background technology
In existing magnetic navigation technology, the travel speed promoting magnetic navigation intelligent vehicle could not obtain comparatively quantum jump always, search to the bottom be induction magnetic nail produce field decay fast, effective range is little, data volume is large and magnetic field be easily disturbed make vehicle along magnetic nail route time cannot accurately locate, control cycle is elongated, vehicle stability cannot be guaranteed, when there is guardrail auxiliary positioning road both sides, vehicle still can reach more satisfactory duty, and cannot self-adaptation ideally to the magnetic nail path be layed in ordinary road.
Summary of the invention
The purpose of this utility model is exactly provide a kind of brief, magnetic navigation intelligent vehicle locating device based on magnetic field symmetry that strong adaptability, positioning precision are high to overcome defect that above-mentioned prior art exists.
The purpose of this utility model can be achieved through the following technical solutions:
Based on a magnetic navigation intelligent vehicle locating device for magnetic field symmetry, comprising:
Magnetic is followed closely, and is provided with multiple, and equidistant laying on the ground;
Magnetic Sensor, is provided with multiple, in same level, be equidistantly arranged on intelligent vehicle front, and follows closely with described magnetic and arrange in square crossing;
Ultrasonic sensor, is arranged on intelligent vehicle, and is arranged on same level height with described Magnetic Sensor;
Microcontroller, connects Magnetic Sensor and ultrasonic sensor respectively;
CAN communication interface, described microcontroller is connected with entire car controller communication by this CAN communication interface.
Described magnetic nail is cylindric magnetic nail.
Described Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, Z tri-direction magnetic field intensitys.
Compared with prior art, the utility model has following characteristics:
(1) the utility model device is simple, easy for installation, reduces cost;
(2) take full advantage of the symmetry rule in magnetic nail magnetic field, data accuracy is high, and cubic spline function relation of simultaneously coincideing between data, is convenient to by Matlab analyzing and processing, obtains calibration coefficient.
(3) ultrasonic sensor detects Magnetic Sensor and magnetic follows closely surface distance in real time, effectively can realize accurate location during bob in vehicular motion.
(4) Magnetic Sensor adopts and equidistantly installs, and by solving triangle displacement calculating deviation, achieves the transverse direction of vehicle and longitudinal hi-Fix.
(5) without the need to road both sides auxiliary positioning, good to the adaptability of road, reduce the laying cost of road.
Accompanying drawing explanation
Fig. 1 is the schematic layout pattern of the utility model locating device;
Fig. 2 is the relation schematic diagram of each parts of the utility model locating device;
Fig. 3 is the space symmetr Distribution of Magnetic Field figure of the utility model magnetic nail;
Fig. 4 is magnetic field data figure line and matching figure line schematic diagram in application example.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.The present embodiment is implemented premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry, comprise magnetic nail 1, Magnetic Sensor 2, ultrasonic sensor 3, microcontroller 4 and CAN communication interface, microcontroller 4 connects Magnetic Sensor 2, ultrasonic sensor 3 and CAN communication interface respectively, CAN communication interface is connected with entire car controller communication, and microcontroller 4 and CAN communication interface are arranged on magnetic navigation controller board.In the present embodiment, 0# ~ 12# is 13 Magnetic Sensors, and interval 10cm is laterally equidistantly arranged on intelligent vehicle front, and for detecting the magnetic field intensity of magnetic nail, Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, Z tri-direction magnetic field intensitys; No. I is that two ultrasonic sensors are arranged on in Magnetic Sensor sustained height plane with No. II, interval 90cm, for detecting the height of Magnetic Sensor distance magnetic nail; Magnetic nail is provided with multiple, lays so that spacing 100cm is longitudinally equidistant, and magnetic nail is cylindric magnetic nail, and being of a size of diameter 30mm, is highly 20mm.Magnetic Sensor and floor level are 20cm, and actual vehicle highly has fluctuation in running.
Be illustrated in figure 2 the utility model locating device each several part relation: the symmetry magnetic field (as shown in Figure 3) that relation 101 produces for magnetic nail acts on Magnetic Sensor, relation 102 is Magnetic Sensor reading field strength values, because the Magnetic Sensor selected is triple axle, therefore X can be read respectively, Y, the magnetic field strength date in Z tri-directions, relation 103 determines Magnetic Sensor and ground distance, relation 104 for microcontroller accept comprise from entire car controller the message waken up with sleep command, relation 105 is that microcontroller sends the message comprising vehicle position information to entire car controller, relation 106 is fault diagnosis, failure code is generated by relation 107 after fault being detected, send entire car controller to.
The principle of work of the above-mentioned magnetic navigation intelligent vehicle locating device based on magnetic field symmetry is: power on, Magnetic Sensor scans the X of 13 sensors successively, Y, Z-direction field strength values, gather the rear data judging according to Z-direction and Y-direction and go out a certain definite section in 26 sections be divided into by 13 Magnetic Sensors residing for magnetic nail, the data choosing two Magnetic Sensors of respective segments calculate total magnetic intensity value, the signal first returned according to ultrasound wave calculates the height on current sensor distance magnetic nail surface and ground, cubic spline function coefficient of relationship corresponding to present level is asked for reference to gained height value interpolation, calculate adjacent two Magnetic Sensors and nail at magnetic the air line distance that the projection on surface and ground and magnetic follows closely, utilize known Magnetic Sensor spacing, vehicle can be calculated depart from the magnetic nail transverse direction in path and length travel by solving triangle, this displacement information is generated CAN message and sends to entire car controller.
Figure 4 shows that magnetic field data figure line and matching figure line in the utility model application example.The longitudinal axis represents the air line distance of magnetic pitch of nails from Magnetic Sensor projected horizontal face, and unit is cm, and transverse axis is X, Y, Z-direction closes magnetic field intensity, and unit is 5.25mG/LSB.
Claims (3)
1., based on a magnetic navigation intelligent vehicle locating device for magnetic field symmetry, it is characterized in that, comprising:
Magnetic is followed closely, and is provided with multiple, and equidistant laying on the ground;
Magnetic Sensor, is provided with multiple, in same level, be equidistantly arranged on intelligent vehicle front, and follows closely with described magnetic and arrange in square crossing;
Ultrasonic sensor, is arranged on intelligent vehicle, and is arranged on same level height with described Magnetic Sensor;
Microcontroller, connects Magnetic Sensor and ultrasonic sensor respectively;
CAN communication interface, described microcontroller is connected with entire car controller communication by this CAN communication interface.
2. a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry according to claim 1, is characterized in that, described magnetic nail is cylindric magnetic nail.
3. a kind of magnetic navigation intelligent vehicle locating device based on magnetic field symmetry according to claim 1, it is characterized in that, described Magnetic Sensor is the triple axle Magnetic Sensor that can detect X, Y, Z tri-direction magnetic field intensitys.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420430266.5U CN204116955U (en) | 2014-07-31 | 2014-07-31 | Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420430266.5U CN204116955U (en) | 2014-07-31 | 2014-07-31 | Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry |
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| Publication Number | Publication Date |
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| CN204116955U true CN204116955U (en) | 2015-01-21 |
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| CN201420430266.5U Expired - Fee Related CN204116955U (en) | 2014-07-31 | 2014-07-31 | Based on the magnetic navigation intelligent vehicle locating device of magnetic field symmetry |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| CN106708052A (en) * | 2017-01-16 | 2017-05-24 | 深圳大图科创技术开发有限公司 | Multi-sensor fusion intelligent vehicle based on magnetic navigation |
| CN106813658A (en) * | 2017-02-14 | 2017-06-09 | 江苏科技大学 | A kind of magnetic field detection circuit, magnetic nail detection means and magnetic nail localization method |
| CN108151766A (en) * | 2017-12-27 | 2018-06-12 | 广东嘉腾机器人自动化有限公司 | Localization method, magnetic nail positioning navigation error correcting method and the positioning device of magnetic nail |
| CN109624933A (en) * | 2018-12-18 | 2019-04-16 | 广东天骄智能制造要素配置有限公司 | Car washer |
-
2014
- 2014-07-31 CN CN201420430266.5U patent/CN204116955U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| CN106708052A (en) * | 2017-01-16 | 2017-05-24 | 深圳大图科创技术开发有限公司 | Multi-sensor fusion intelligent vehicle based on magnetic navigation |
| CN106813658A (en) * | 2017-02-14 | 2017-06-09 | 江苏科技大学 | A kind of magnetic field detection circuit, magnetic nail detection means and magnetic nail localization method |
| CN106813658B (en) * | 2017-02-14 | 2019-10-15 | 江苏科技大学 | A kind of magnetic field detection circuit, magnetic nail detection device and magnetic follow closely localization method |
| CN108151766A (en) * | 2017-12-27 | 2018-06-12 | 广东嘉腾机器人自动化有限公司 | Localization method, magnetic nail positioning navigation error correcting method and the positioning device of magnetic nail |
| CN108151766B (en) * | 2017-12-27 | 2024-03-01 | 广东嘉腾机器人自动化有限公司 | Positioning method of magnetic nails, positioning navigation error correction method of magnetic nails and positioning device |
| CN109624933A (en) * | 2018-12-18 | 2019-04-16 | 广东天骄智能制造要素配置有限公司 | Car washer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150121 Termination date: 20200731 |
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| CF01 | Termination of patent right due to non-payment of annual fee |