CN208704763U - A kind of magnetic field induction positioning device - Google Patents
A kind of magnetic field induction positioning device Download PDFInfo
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- CN208704763U CN208704763U CN201721875906.3U CN201721875906U CN208704763U CN 208704763 U CN208704763 U CN 208704763U CN 201721875906 U CN201721875906 U CN 201721875906U CN 208704763 U CN208704763 U CN 208704763U
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Abstract
The utility model provides a kind of magnetic field induction positioning device, including data processor and at least two groups Magnetic Sensor, the Magnetic Sensor and the data processor communicate to connect, the Magnetic Sensor is for acquiring magnetic field strength information, the data processor includes central processing element and computing module, the central processing element is electrically connected with the Magnetic Sensor, the Magnetic Sensor can transmit magnetic field strength information to the central processing element, the central processing element is for controlling the identical measurement point of the computing module extraction magnetic field strength and being fitted magnetic field distribution curve.The magnetic field induction device of the utility model does not need scanning magnetic field region can provide positioning result in real time, can flexibly be used for the real-time auxiliary positioning of AGV, secondary positioning, greatly provide the diversity and accuracy of AGV positioning.
Description
Technical field
The utility model belongs to object positioning method field, specially a kind of magnetic field induction positioning device.
Background technique
As the accuracy requirement that people run AGV is higher and higher, positioning side is followed closely in order to solve the magnetic that general AGV is used
Method is sensitive to sensor hardware application condition, and the big problem of position error, the research staff of this field is had investigated, followed closely using magnetic
Object of reference is made, the air navigation aid that situation is detected, and corrected in time is deviateed to AGV.
The key of the navigation error modification method of this kind application magnetic nail positioning is how accurately to determine the position of magnetic nail, from
And accurately extrapolate the position that magnetic follows closely opposite AGV.In the prior art, there are two types of common localization methods.One is where magnetic nail
The magnetic field strength for the vertical direction that multiple sampled points measure at this is laid in region, by measuring multi-group data, is pressed to multi-group data
The size of magnetic field strength is ranked up, and therefrom extrapolates the apparent position of maximum intensity, the position as magnetic nail.Another kind, then
Measure the magnetic field strength on each three-dimensional, then the magnetic field with magnetic nail respectively on multiple spot position using magnetic sensor
It is matched, then obtains the relative position of magnetic nail with data processing.But aforementioned two methods, first method have used multiple adopt
Collect the data of point, but different errors of the different acquisition point in hardware differences are also brought into final result, cause positioning accuracy
It is not high；The equipment cost of second method application is high, needs to do magnetic field model accurate modeling, and operation is complicated；
In addition, existing Magnetic Sensor positioning device cannot achieve and detect enough magnetic at once in the state of static
Field data derives the curve of fitting, then obtains the real time position of AGV, it is therefore desirable to change to existing positioning device
It makes.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of magnetic field induction positioning device, including
Data processor and at least two groups Magnetic Sensor, the Magnetic Sensor and the data processor communicate to connect, the magnetic sensing
For device for acquiring magnetic field strength information, the data processor includes central processing element and computing module, the central processing
Chip is electrically connected with the Magnetic Sensor, and the Magnetic Sensor can transmit magnetic field strength information, institute to the central processing element
Central processing element is stated to divide for controlling the computing module and extracting the identical measurement point of magnetic field strength and be fitted magnetic field strength
Cloth curve.
Compared with prior art, the magnetic field induction device of the utility model do not need scanning magnetic field region can in real time to
Positioning result out can flexibly be used for the real-time auxiliary positioning of AGV, secondary positioning, greatly provide the multiplicity of AGV positioning
Property and accuracy.
It further, further include mounting bracket, the two sensors are relatively-movable to be arranged in the mounting bracket,
The ratio of the distance between described two sensors and the diameter of the magnetic field distribution curve is 0.45-0.65, two groups of magnetic
The distance between sensor, which is arranged so, effectively provides the fitting precision of distribution curve.
Further, in order to facilitate the adjustable range of two groups of Magnetic Sensors, two kinds of implementation methods are listed individually below:
Method one: further including mounting base and sliding connection structure, the Magnetic Sensor is arranged in the mounting base, described
Mounting base is slidably disposed in the mounting bracket by the sliding connection structure, and Magnetic Sensor is mounted on mounting base
On can make Magnetic Sensor connection enhanced convenience it is secured, while can also to Magnetic Sensor and detection difference between height
It is adjusted；
Method two: further including sliding connection structure, and the Magnetic Sensor is equipped with connecting plate, and the Magnetic Sensor passes through described
Connecting plate is connect with the sliding connection structure, and is slidably disposed in the mounting bracket, this structure and method
It is not provided with mounting base unlike one, one piece of connecting plate is only provided with more on Magnetic Sensor, is directly set by connecting plate
It sets in the mounting bracket, being arranged in this way, which can simplify structure and process work, continues, it is further provided production efficiency and reduction life
Produce cost.
The sliding connection structure that above two method is mentioned includes sliding slot and connecting screw, and the sliding slot is arranged in the peace
It fills on bracket, connecting screw passes through connecting plate or mounting base in Magnetic Sensor mounting base sliding slot, and the Magnetic Sensor made can edge
Sliding in sliding slot.
It further, further include output module, the output module is electrically connected with central processing element, for showing the fortune
Calculate the fitting result of module.
The utility model also provides a kind of positioning side of the simple and inexpensive magnetic nail of accurate positioning, Real-time Feedback, equipment
Method.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme: a kind of localization method of magnetic nail, packet
Include following steps:
(a) be arranged at least two groups Magnetic Sensor, and by two groups of Magnetic Sensors it is separated by a distance be placed on magnetic
It follows closely above region；
(b) according to two groups of Magnetic Sensors, the identical measurement point P0 of magnetic field strength is acquired；
(c) according to all measurement point P0 of acquisition, the magnetic field distribution curve of P0 point is fitted；
(d) it according to P0 point distribution curve, derives the maximum point Pmax of magnetic field strength, obtains the position of magnetic nail.
Because it is strong to identical magnetic field to will cause different acquisition device for the hardware differences of each sampler of Magnetic Sensor
Degree obtains different measured values, and measurement error can increase with the increase of magnetic field strength, so the utility model passes through
Multiple lesser measurement point P0 of magnetic field strength fit P0 point distribution curve in conjunction with the matched curve model chosen in advance, derive
The position of the maximum point Pmax of magnetic field strength out, magnetic nail are the underface of point Pmax；
In addition, the utility model is not needed through AGV row so that Magnetic Sensor is to magnetic when measuring P0
It follows closely region and carries out motion scan, is i.e. AGV can be static, therefore can reduce for measuring the distance between each measurement point
Etc. information encoder and gyroscope, by setting at least two groups Magnetic Sensor i.e. can extract sufficient amount of measurement point P0, and
P0 point distribution curve is fitted, the fitting speed of P0 point distribution curve is significantly improved, saves manufacturing cost and reduce
System complexity,
Further, the P0 point distribution curve is circular curve, and the center location of the circular curve is the position of Pmax, magnetic nail
Position be point Pmax underface.Distribution curve is used as using circle, fitting is simple, and convenient for determining that magnetic follows closely position.
Further, the distance between described two groups of Magnetic Sensors and the ratio of the diameter of the P0 point distribution curve are
0.45-0.65。
Further, the acquisition method of the P0 point are as follows:
(b1) according to the collected all field strength values of two groups of Magnetic Sensors, magnetic field distribution song is fitted
Line total figure；
(b2) specific value for the measurement point P0 that setting needs to acquire；
(b3) according to the specific value of magnetic field distribution curve total figure and setting, corresponding P0 point is extracted, alternatively, according to
The specific value of magnetic field distribution curve total figure and setting extracts two reference points close with the specific value of the setting
P1, P2 derive the position of the P0 point according to the distance between induction chip corresponding to the P1 point and P2 point.
Further, the Magnetic Sensor is the array combination of uniaxial magnetoresistive chip, and induction direction is vertical direction, into
One step reduces equipment cost.
Further, the magnetic field strength of the P0 point is 0 or close to 0.Because what the measurement error and magnetic of Magnetic Sensor were followed closely
Installation error can be all amplified with the increase of magnetic induction intensity, so the lesser point of magnetic field strength is selected to be used as measurement point,
Error can be effectively reduced.
Further, the magnetic nail is cylindrical neodymium-iron-boron nail.Cylindrical magnetic follows closely the magnetic field strength model to be formed
Fountain shape, this model with centre-symmetric properties is more convenient for analyzing and carrying out curve fitting to data, and fitting precision is more
It is high.
Further, the Magnetic Sensor is 30mm-50mm at a distance from required measured zone.Magnetic Sensor and magnetic pitch of nails
Close from too, magnetic field strength is smaller close to 0 P0 point distribution curve diameter of a circle, there was only less measuring cell warp in Magnetic Sensor
The range for having crossed circle makes the negligible amounts of measurement point P0 that can be obtained, and reduces the accuracy of fitting distribution curve；If sensor
Distance is too far between magnetic nail, and the change of magnetic field strength near P0 point is unobvious, when there are faint environmental disturbances magnetic field, does
Being affected for position judgement of the magnetic field to measurement point P0 is disturbed, the accuracy of fitting distribution curve is reduced.
Further, the measuring cell in the Magnetic Sensor is arranged straight down, measures the magnetic field strength of vertical direction
Size.The magnetic field distribution in this direction is to follow closely position relationship in a center of symmetry about magnetic, so subsequent positioning of being more convenient for is calculated
The realization of method, and improve positioning accuracy.
The utility model also provides a kind of magnetic nail positioning navigation error correcting method of accurate positioning, and this method includes following
Step:
(A) magnetic nail is laid in the region of AGV traveling, the magnetic field to be formed is followed closely according to magnetic and establishes the magnetic containing location information
Field model is stored in the navigation device of AGV；
(B) Magnetic Sensor of at least two groups is arranged on the AGV, two groups of Magnetic Sensors are separated by a distance to be put
It sets；
(C) magnetic that two groups of Magnetic Sensors detect the region AGV at this time follows closely generated magnetic field strength；
(D) according to all magnetic field strengths detected, the measurement point P0 with same magnetic field intensity is extracted；
(E) according to all measurement point P0 of acquisition, the magnetic field distribution curve of P0 point is fitted；
(F) according to P0 point distribution curve, derive that the maximum point Pmax of magnetic field strength obtains the position of magnetic nail and Magnetic Sensor
Relationship is set, the relative positional relationship of magnetic nail and AGV is extrapolated；
(G) it according to the relative positional relationship of magnetic nail and AGV, and the magnetic field model being stored in the navigation device of AGV, pushes away
Calculate the current pose of AGV；
(H) navigation device adjusts the movement that executes of the motion control device of AGV according to the pose of the AGV extrapolated, guiding
AGV repairs walking deviation.
Above-mentioned navigation error modification method still can detect enough at once in the case where AGV shuts down and restarts
P0 point, fit the magnetic field distribution curve of P0 point, then correct error, and compared to the prior art, this is practical
Novel navigation error modification method is not limited by space layout, is not influenced by medium, insufficient light and ground pollution, has ring
Border is adaptable, and positioning accuracy is high, application apparatus advantage at low cost.
Detailed description of the invention
Fig. 1 is Magnetic Induction Density Distribution simulation drawing.
Fig. 2 is two groups of Magnetic Sensors
Fig. 3 is the magnetic field strength schematic diagram of magnetic nail；
Fig. 4 is the flow chart of the navigation error modification method based on magnetic nail positioning；
Fig. 5 is that the magnetic of the utility model passes the structural block diagram of sensing device；
Fig. 6 is that a kind of magnetic of the utility model passes the structural schematic diagram of sensing device；
Fig. 7 is the structural schematic diagram of another angle of Fig. 6；
Fig. 8 is that another magnetic of the utility model passes the structural schematic diagram of sensing device；
Fig. 9 is the structural schematic diagram of another angle of Fig. 8.
Specific embodiment
Below in conjunction with Detailed description of the invention specific embodiment of the present utility model.
Referring to Fig. 5, the invention also discloses a kind of magnetic field induction positioning device, including data processor 11, at least
Two groups of Magnetic Sensors 2 and output module 13, the Magnetic Sensor 2 are communicated to connect with the data processor 11, the magnetic sensing
Device 2 includes central processing element 111 and computing module 112, institute for acquiring magnetic field strength information, the data processor 11
It states central processing element 111 to be electrically connected with the Magnetic Sensor 2, the Magnetic Sensor 2 can be passed to the central processing element 111
Defeated magnetic field strength information, the central processing element 111 extract the identical survey of magnetic field strength for controlling the computing module 112
It measures point and is fitted magnetic field distribution curve, the output module 13 is electrically connected with central processing element 111, for showing
State the fitting result of computing module 112.
It further include mounting bracket 14 as a preferred solution referring to Fig. 6-9, the two sensors 2 opposite can move
Dynamic setting is in the mounting bracket 14, the greatly described magnetic field distribution curve of the distance between described two sensors 2
Diameter 1/2, i.e., both between 0.45-0.65, the distance between two groups of Magnetic Sensors 2 are arranged so effectively to be mentioned ratio
For the fitting precision of distribution curve.
Preferably, in order to facilitate the adjustable range of two groups of Magnetic Sensors 2, two kinds of implementation methods are listed individually below:
Method one: further including mounting base 15 and sliding connection structure, and the Magnetic Sensor 2 is arranged in the mounting base 15
On, the mounting base 15 is slidably disposed in the mounting bracket 14 by the sliding connection structure, by Magnetic Sensor 2
Being mounted in mounting base 15 can make the connection of Magnetic Sensor 2 enhanced convenience secured, while can also be to Magnetic Sensor 2 and inspection
The height surveyed between difference is adjusted；
Method two: further including sliding connection structure, and the Magnetic Sensor 2 is equipped with connecting plate 121, and the Magnetic Sensor 2 is logical
It crosses the connecting plate 121 to connect with the sliding connection structure, and is slidably disposed in the mounting bracket 14, this
Structure is not provided with mounting base 15 unlike method one, and one piece of connecting plate 121 is only provided on Magnetic Sensor 2 more,
It is set up directly in the mounting bracket 14 by connecting plate 121, setting can simplify structure in this way and processing work is continuous, further
Production efficiency is provided and reduces production cost.
The sliding connection structure that above two method is mentioned includes sliding slot 16 and connecting screw (not shown go out), the sliding slot
16 are arranged in the mounting bracket 14, and connecting screw passes through connecting plate 121 or mounting base 15 for 2 mounting base of Magnetic Sensor
In 15 sliding slots, the Magnetic Sensor 2 that makes can be along sliding in sliding slot.
Compared with prior art, the magnetic field induction device of the utility model do not need scanning magnetic field region can in real time to
Positioning result out can flexibly be used for the real-time auxiliary positioning of AGV, secondary positioning, greatly provide the multiplicity of AGV positioning
Property and accuracy.
Referring to Fig. 1, a kind of localization method of magnetic nail provided by the utility model, comprising the following steps:
(a) at least two groups Magnetic Sensor 2 is set, and is placed on two groups of Magnetic Sensors 2 are separated by a distance
Magnetic is followed closely above 1 region；
(b) according to two groups of Magnetic Sensors 2, the identical measurement point P0 of magnetic field strength is acquired；It should be noted that in step
Suddenly the specific acquisition step of P0 is divided into following 3 in (b):
(b1) according to the collected all field strength values of two groups of Magnetic Sensors 2, magnetic field distribution is fitted
The total Fig. 4 of curve；
(b2) specific value for the measurement point P0 that setting needs to acquire；
(b3) according to the specific value of magnetic field distribution curve total Fig. 4 and setting, corresponding P0 point is extracted, alternatively, root
According to the specific value of magnetic field distribution curve total Fig. 4 and setting, two ginsengs close with the specific value of the setting are extracted
Examination point P1, P2 derives the position of the P0 point according to the distance between induction chip corresponding to the P1 point and P2 point,
Such as:
Referring to fig. 2, the spacing between two adjacent induction chips of 2 the inside of Magnetic Sensor is 10mm, is detected
It is -30 and No. 2 induction chips 6 is 70 that magnetic field strength date, which is No. 1 induction core 5 respectively, is 6 if necessary to find magnetic field strength
P0 point position, then the P0 point can be extrapolated at No. 15 right side 3.6mm of induction chip；Between adjacent induction chip
Distance can be set in the range of 5mm-20mm, spacing is arranged fewer, and the precision of induction can be higher；
(c) according to all measurement point P0 of acquisition, the magnetic field distribution curve 3 of P0 point is fitted；
(d) it according to P0 point distribution curve, derives the maximum point Pmax of magnetic field strength, obtains the position of magnetic nail 1.
The distance between described two groups of Magnetic Sensors 2 of above-mentioned steps (a) are preferably set for 40mm-70mm, specific value
Need to depend on the diameter of P0 point distribution curve, the distance between described two groups of Magnetic Sensors 2 are straight with P0 point distribution curve
The ratio of diameter probably controls the value range in 1:2, can ratio probably between 0.45-0.65, such as:
As shown in Fig. 2, two groups of Magnetic Sensors 2 are horizontally disposed, it is optimal setting side that the spacing between both, which is 50mm,
Formula, and the diameter for the P0 point distribution curve drafted is about 100mm, if the distance of two groups of Magnetic Sensors 2 is too small, 4 P0 points
The precision of the distribution curve of fitting just reduces (deviation fault-tolerance is low)；If the distance of two groups of Magnetic Sensors 2 is too big, two groups
Magnetic Sensor 2 all can close to distribution curve it is tangent, cause the moving range of AGV smaller, influence fitting precision.
Referring to attached drawing 1, the magnetic field strength of the P0 point is 0 or close to 0.Because of measurement error and the magnetic nail 1 of Magnetic Sensor 2
Installation error can be all amplified with the increase of magnetic induction intensity, so select magnetic field strength it is lesser point as measurement
Point can be effectively reduced error.
A kind of preferred embodiment as magnetic type selecting: the magnetic nail 1 is followed closely for cylinder type neodymium iron boron magnetic.This magnetic follows closely end face side
It is fountain shape to the magnetic field strength model that can be formed of magnetizing, this model with centre-symmetric properties is more convenient for analyzing and logarithm
According to carrying out curve fitting, and fitting precision is higher, and Magnetic Sensor 2 then preferentially selects uniaxial magnetic quantity sensor, specially uniaxial
The array combination of magnetoresistive chip, internal measuring cell are to be arranged straight down, measure the magnitude of field intensity of vertical direction,
The magnetic field distribution in this direction is to follow closely 1 position relationship in a center of symmetry about magnetic, so subsequent location algorithm of being more convenient for
It realizes, and improves positioning accuracy.And this uniaxial magnetic quantity sensor is matched with cylinder type neodymium iron boron magnetic nail, can be obtained higher
Induction progress, and equipment cost can be further decreased.
The P0 point distribution curve 3 is circular curve, and the center location of the circular curve is the position of Pmax, the position of magnetic nail 1
For the underface of point Pmax.Distribution curve 3 is used as using circle, fitting is simple, and convenient for determining that magnetic follows closely 1 position.
Since if Magnetic Sensor 2 and 1 distance of magnetic nail were too close, P0 point distribution curve 3 diameter of a circle of the magnetic field strength close to 0
It is smaller, only have less measuring cell to have passed through round range in Magnetic Sensor 2, make the quantity for the measurement point P0 that can be obtained compared with
It is few, reduce the accuracy of fitting distribution curve；If distance is too far between sensor and magnetic nail 1, the magnetic field strength near P0 point
Change unobvious, when there are faint environmental disturbances magnetic field, interference magnetic field is affected to the judgement of the position of measurement point P0,
Reduce the accuracy of fitting distribution curve.Therefore, for the accuracy for allowing raising to measure, the Magnetic Sensor 2 and required measurement
The distance in region is 30mm-50mm.Magnetic Sensor 2 and 1 too close, the measurement point of each acquisition in Magnetic Sensor 2 of distance of magnetic nail
P0 repetitive rate is high, makes the negligible amounts of measurement point P0 that can be obtained, and reduces the accuracy of fitting distribution curve；If sensor with
Distance is too far between magnetic nail 1, and the change of magnetic field strength near P0 point is unobvious, when there are faint environmental disturbances magnetic field, does
Being affected for position judgement of the magnetic field to measurement point P0 is disturbed, the accuracy of fitting distribution curve is reduced.
The principles of the present invention and beneficial effect are:
Because the hardware differences of each sampler of Magnetic Sensor 2 will cause different acquisition device to identical magnetic field
Intensity obtains different measured values, and measurement error can increase with the increase of magnetic field strength, so the utility model is logical
The lesser measurement point P0 of multiple magnetic field strengths is crossed, in conjunction with the matched curve model chosen in advance, P0 point distribution curve is fitted, pushes away
The maximum point Pmax of magnetic field strength is exported, the position of magnetic nail 1 is the underface of point Pmax.
In addition, the utility model is not needed through AGV row so that Magnetic Sensor 2 is to magnetic when measuring P0
Follow closely 1 region carry out motion scan, i.e. AGV can be it is static, therefore can reduce for measure between each measurement point away from
From etc. information encoder and gyroscope, by the i.e. extractable measurement point P0 of setting at least two groups Magnetic Sensor 2, and fit P0
Point distribution curve significantly improves the fitting speed of P0 point distribution curve and saves manufacturing cost, optimizes the interior of AGV
Portion's structure.
And the DATA REASONING error of the utility model has symmetry, and positioning accuracy is higher.
In addition, the equipment cost of application is low due to selecting simple uniaxial magnetic quantity sensor can be realized；Therefore, this is practical
It is novel compared with prior art, have the advantages that accurate positioning, application apparatus are at low cost.
Referring to fig. 4, the invention also discloses a kind of navigation error modification method based on 1 positioning of magnetic nail, features
It is: the following steps are included:
(A) magnetic nail 1 is laid in the region of AGV traveling, is established according to the magnetic field that magnetic nail 1 is formed and contains location information
Magnetic field model is stored in the navigation device of AGV；
(B) Magnetic Sensor of at least two groups 2 is arranged on the AGV, two groups of Magnetic Sensors 2 are separated by a distance to be put
It sets；
(C) two groups of Magnetic Sensors 2 detect magnetic field strength caused by the magnetic nail 1 of the region AGV at this time；
(D) according to all magnetic field strengths detected, the measurement point P0 with same magnetic field intensity is extracted；
(E) according to all measurement point P0 of acquisition, the magnetic field distribution curve 3 of P0 point is fitted；
(F) it according to P0 point distribution curve, derives the maximum point Pmax of magnetic field strength, obtains the position of magnetic nail 1 with Magnetic Sensor 2
Relationship is set, the relative positional relationship of magnetic nail 1 and AGV is extrapolated；
(G) relative positional relationship of 1 with AGV, and the magnetic field model being stored in the navigation device of AGV are followed closely according to magnetic,
Extrapolate the current pose of AGV；
(H) navigation device adjusts the movement that executes of the motion control device of AGV according to the pose of the AGV extrapolated, guiding
AGV repairs walking deviation.
As a preferred solution, the magnetic nail 1 is equipped with two or more in AGV travel track, and when setting, there are two magnetic nails 1
When, navigation device not only can determine itself actual position, may be used also according to the relative position of itself and one of magnetic nail 1
With using two or more magnetic nails 1, combination obtains more accurate directional information, for correcting the deviation of directivity of AGV simultaneously.If
The accumulation of AGV navigation error is slower, and the layout density of magnetic nail 1 can reduce, and the laying spacing between magnetic nail 1 can increase；If AGV
Navigation error accumulation is very fast, and the layout density of magnetic nail 1 should increase, and the laying spacing between magnetic nail should reduce.
Above-mentioned navigation error modification method still can detect enough at once in the case where AGV shuts down and restarts
P0 point, fit the magnetic field distribution curve 3 of P0 point, then correct error, and compared to the prior art, this reality
It is not limited by space layout with novel navigation error modification method, is not influenced, had by medium, insufficient light and ground pollution
Environmental suitability is strong, and positioning accuracy is high, application apparatus advantage at low cost.
When AGV is activated and in driving status, since magnetic nail 1 is layed on the ground of AGV travel track, AGV
Right above being followed closely directly through magnetic, since the magnetic field strength right above magnetic nail 1 is bigger, it is convenient for signal detection, improves positioning accuracy.
Magnetic Sensor 2 on the AGV is using the magnetic signature for periodically detecting surrounding.It is examined using periodic mode
Magnetic signature around surveying, in multiple times can correct its pose in AGV operational process, keep the operation of AGV more acurrate.
The region of the AGV operation has coordinate system, and the magnetic nail 1 is in the coordinate system, the dead reckoning of the AGV, based on upper
State the coordinate computation on coordinate system.Using coordinate computation, keep operation more simple, rapidly.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned reality
The mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, right
Some modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extent
It is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility model
Constitute any restrictions.
Claims (6)
1. a kind of magnetic field induction positioning device, it is characterised in that: including data processor and at least two groups Magnetic Sensor, the magnetic
Sensor and the data processor communicate to connect, and the Magnetic Sensor is for acquiring magnetic field strength information, the data processing
Device includes central processing element and computing module, and the central processing element is electrically connected with the Magnetic Sensor, the magnetic sensing
Device can transmit magnetic field strength information to the central processing element, and the central processing element is mentioned for controlling the computing module
It takes the identical measurement point of magnetic field strength and is fitted magnetic field distribution curve.
2. a kind of magnetic field induction positioning device according to claim 1, it is characterised in that: it further include mounting bracket, it is described
Two groups of Magnetic Sensors it is relatively-movable be arranged in the mounting bracket, the distance between described two groups of Magnetic Sensors with it is described
The ratio of the diameter of magnetic field distribution curve is 0.45-0.65.
3. a kind of magnetic field induction positioning device according to claim 2, it is characterised in that: further include that mounting base and sliding connect
Binding structure, the Magnetic Sensor are arranged in the mounting base, and the mounting base is slidable by the sliding connection structure
It is arranged in the mounting bracket.
4. a kind of magnetic field induction positioning device according to claim 2, it is characterised in that: it further include sliding connection structure,
The Magnetic Sensor is equipped with connecting plate, and the Magnetic Sensor is connect by the connecting plate with the sliding connection structure, and
It is slidably disposed in the mounting bracket.
5. a kind of magnetic field induction positioning device according to claim 3 or 4, it is characterised in that: the sliding connection structure
Including sliding slot and connecting screw, the sliding slot is arranged in the mounting bracket.
6. a kind of magnetic field induction positioning device according to claim 1, it is characterised in that: it further include output module, it is described
Output module is electrically connected with central processing element, for showing the fitting result of the computing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721875906.3U CN208704763U (en) | 2017-12-27 | 2017-12-27 | A kind of magnetic field induction positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721875906.3U CN208704763U (en) | 2017-12-27 | 2017-12-27 | A kind of magnetic field induction positioning device |
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| CN208704763U true CN208704763U (en) | 2019-04-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2017
- 2017-12-27 CN CN201721875906.3U patent/CN208704763U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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