CN208999556U - A kind of electromagnetic positioning system - Google Patents
A kind of electromagnetic positioning system Download PDFInfo
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- CN208999556U CN208999556U CN201821325539.4U CN201821325539U CN208999556U CN 208999556 U CN208999556 U CN 208999556U CN 201821325539 U CN201821325539 U CN 201821325539U CN 208999556 U CN208999556 U CN 208999556U
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Abstract
The utility model discloses a kind of electromagnetic positioning system, including sender unit, signal receiving device and signal calculation processing center；Signal receiving device includes acquisition module and at least one induction coil, and induction coil is connected on acquisition module, and acquisition module is connected on signal calculation processing center；Sender unit includes control module, multiple drive modules and multiple flat coils, multiple flat coils forming array in XYZ coordinate system space, the flat coil of each of array arranges the induction coil in one or more signal receiving devices as transmitting coil around transmitting coil；Each in the transmitting coil or multiple one group of compositions, each transmitting coil is connected to a drive module, each drive module is connected in control module；Acquisition module acquires superposition induction alternating magnetic field signal from each induction coil, determines the position and direction of each induction coil after being transferred to signal calculation processing center to realize the positioning to multiple induction coils.
Description
[technical field]
The utility model measures the technology of induction coil position and direction based on the magnetic field signal of alternation, more specifically
It says, is to be related to a kind of electromagnetic positioning system.
[background technique]
The increasingly extensive application of the moving components such as industrial robot and mobile robot causes to its operating characteristics, especially right
The dynamic locating accuracy of motion actuators proposes very high requirement.Such as industrial robot is used as by retarder, servo motor, increasing
Amount formula encoder and load feedback unit realize the movement control mode of semiclosed loop, and mechanical arm structure height is non-linear, high
Fast end dynamic variation (offset, shake) and high load variation (end-of-arm tooling displacement) will affect path orientation precision.
So a kind of high-precision motion profile detection system is filling to realize that the real time kinematics of robot are fed back with control
Measurement and evaluation with positioning, vibration analysis and performance indicator etc. are using the unusual necessity that seems；At present both at home and abroad to movement
Tracking and the research of location technology are relatively concentrated in radio-frequency signal detection positioning, inertia sensing, Magnetic oriented, vision positioning harmony
Source positioning etc..
Wherein, in terms of electromagnetic positioning system is widely used in 3D emulation and moving body track, traditional electromagnetic location system
System, it is inconvenient to use under some conditions since induction coil is connected with control module；It is limited using number of sensors, simultaneously
Because environment electromagnetics interference is relatively more, from communication electromagnetism signal, to the electromagnetic interference of electronic product, the magnetic field including the earth is dry
It disturbs, very big influence all is produced for electromagnetic measurement and positioning；Cause traditional sensors poor anti jamming capability, measurement accuracy
It is low.
[utility model content]
In order to solve the above technical difficulty, the utility model provides one kind and can not correct and dynamic in external electromagnetic interference
In the case of, in time by the constraint condition of physical location, realize the modified electromagnetic positioning system of space coordinate.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of electromagnetic positioning system, including sender unit, signal receiving device and signal calculation processing center；It is described
Signal receiving device includes acquisition module and at least one induction coil, and the induction coil is connected on acquisition module, acquisition
Module is connected on signal calculation processing center；The sender unit includes control module, at least six drive module and extremely
Few 6 flat coils, multiple flat coils forming array in XYZ coordinate system space, the flat coil conduct of each of array
Transmitting coil arranges the induction coil in one or more signal receiving devices around transmitting coil；In the transmitting coil
Each or it is multiple constitute one group, each transmitting coil or each group of transmitting coil are connected to a drive module, each drive
Dynamic model block is connected in control module；Each transmitting coil transmitting includes the alternating magnetic field signal of special characteristic, each group of transmitting
Coil emits alternating electromagnetism field signal in turn under the control of control module；The magnetic field signal of the transmitting coil transmitting is in XYZ
Superposition alternating magnetic field signal is formed in coordinate system space, is superimposed alternating magnetic field signal function after any one induction coil, shape
Stacked plus magnetic field sensor signal, the acquisition module acquire superposition induction alternating magnetic field signal, transmission from each induction coil
Signal calculation processing center is given, the alternating magnetic field signal that each transmitting coil is isolated at signal calculation processing center from signal produces
Raw induction alternating magnetic field signal component, and position and side of each induction coil in XYZ coordinate system space are determined with algorithm
Always the positioning to multiple induction coils is realized.
Further, position and direction of the transmitting coil in XYZ coordinate system space are fixed in advance.
Further, the sender unit includes that a control module, at least six drive module and at least six are flat
Smooth coil, multiple flat coils forming array in XYZ coordinate system space, the flat coil of each of array is as emission lines
Circle, each in the transmitting coil or it is multiple may be constructed one group, each transmitting coil is connected to a drive module, often
One drive module is connected in control module.
Further, the array of the induction coil and transmitting coil composition, drive module, adopt between control module respectively
Wirelessly communication connection.
The beneficial effects of the utility model are:
The utility model compared with prior art, is realized by the way of multisensor array for being tracked the more of object
While point measurement, by the physics and geometrical property of sensor array itself, according to the fusion of multisensor measured data, first
Estimate the calculated position coordinates of each sensor, then by fixation position between multisensor and distance, correction due to by
Error caused by interference, improves the precision of measurement.Environment and target can be more accurately obtained using multisensor
A certain feature or one group of correlated characteristic, whole system integrated information obtained and any single-sensor information phase obtained
Than having higher precision and reliability.Induction coil does not need cable with control module and connect, more convenient to use.
[Detailed description of the invention]
Fig. 1 is the schematic layout pattern of the utility model.
[specific embodiment]
A kind of electromagnetic positioning system, as shown in Figure 1, including that sender unit 1, signal receiving device 2 and signal calculate
Processing center 3；Signal receiving device 2 includes acquisition module 20 and three induction coils 21, which is connected to acquisition
In module 20, acquisition module 20 is connected on signal calculation processing center 3；Sender unit 1 includes control module 4,9 drives
The flat coil 6 of dynamic model block 5 and 9, flat coil 6 forming array in XYZ coordinate system space, the flat coil of each of array
6 are used as transmitting coil, and 1 or 2 one group of composition in transmitting coil, each transmitting coil is connected to a drive module 5, often
A drive module 5 is connected in control module 4；The induction in a signal receiving device 2 is arranged around transmitting coil array
Coil 21；Moreover, position and direction of the transmitting coil in XYZ coordinate system space are fixed in advance；Wherein, induction coil 21 and hair
The array of ray circle composition, wireless communication connection is respectively adopted between control module 4 at drive module 5.
Wherein, the transmitting of each transmitting coil includes the alternating magnetic field signal of special characteristic, each transmitting coil or every
One group of transmitting coil emits alternating electromagnetism field signal in turn under the control of control module 4；The magnetic field signal of transmitting coil transmitting
Superposition alternating magnetic field signal is formed in XYZ coordinate system space, is superimposed alternating magnetic field signal function in any one induction coil
After 21, superposition magnetic field sensor signal is formed, which acquires superposition induction alternating magnetic field from each induction coil 21
Signal, is transferred to signal calculation processing center 3, and the friendship of each transmitting coil is isolated at signal calculation processing center 3 from signal
The induction alternating magnetic field signal component that varying magnetic field signal generates, and determine each induction coil in XYZ coordinate system space with algorithm
In position and direction realize the positioning to multiple induction coils.
It when work, is first powered on to transmitting coil array, then, each transmitting coil transmitting includes the alternation magnetic of special characteristic
Field signal；Then, the superposition magnetic field sensor signal that amplification induction coil generates；In turn, to superposition magnetic field sensor signal filtering and
Sampling；Then, the induction alternating magnetic field signal component of each transmitting coil is isolated from superposition alternating magnetic field signal；Finally,
Algorithm determines position and direction parameter of each induction coil in XYZ coordinate system space, to complete to multiple induction coils
Positioning.
When needing to be positioned next time, the alternating magnetic field that each transmitting coil transmitting includes special characteristic is started again at
Signal is completed again until algorithm determines each induction coil position and direction parameter new in XYZ coordinate system space again
Positioning to multiple induction coils.The same of the multimetering for tracked object is realized by the way of multisensor array
When, a certain feature or one group of correlated characteristic of environment and target, whole system can be more accurately obtained using multisensor
Integrated information obtained has higher precision and reliability compared with any single-sensor information obtained.
Embodiment described above is the preferred embodiment for being the utility model, and the reality of the utility model is not limited with this
Range is applied, it is all according to equivalence changes made by the shape of the utility model, construction and principle, the guarantor of the utility model should all be covered by
It protects in range.
Claims (4)
1. a kind of electromagnetic positioning system, including sender unit, signal receiving device and signal calculation processing center；Its feature
It is:
The signal receiving device includes acquisition module and at least one induction coil, and the induction coil is connected to acquisition module
On, acquisition module is connected on signal calculation processing center；
The sender unit includes control module, at least six drive module and the flat coil of at least six, multiple flat lines
Circle forming array in XYZ coordinate system space, the flat coil of each of array is as transmitting coil, the cloth around transmitting coil
Set the induction coil in one or more signal receiving devices；
Each in the transmitting coil or multiple one group of compositions, each transmitting coil is connected to a drive module, each
Drive module is connected in control module；
Each transmitting coil transmitting includes the alternating magnetic field signal of special characteristic, control of each group of transmitting coil in control module
Under emit alternating electromagnetism field signal in turn；
The magnetic field signal of the transmitting coil transmitting forms superposition alternating magnetic field signal in XYZ coordinate system space, is superimposed alternation
After magnetic field signal acts on any one induction coil, superposition magnetic field sensor signal is formed, the acquisition module is felt from each
Coil acquisition superposition induction alternating magnetic field signal is answered, is transferred to signal calculation processing center, signal calculation processing center is from signal
In isolate the induction alternating magnetic field signal component that the alternating magnetic field signal of each transmitting coil generates, and determined with algorithm each
Position and direction of the induction coil in XYZ coordinate system space realize the positioning to multiple induction coils.
2. a kind of electromagnetic positioning system according to claim 1, which is characterized in that the transmitting coil is in XYZ coordinate system
Position and direction in space are fixed in advance.
3. a kind of electromagnetic positioning system according to claim 1, which is characterized in that the sender unit includes one
Control module, at least six drive module and the flat coil of at least six, multiple flat coils constitute battle array in XYZ coordinate system space
Column, the flat coil of each of array as transmitting coil, each in the transmitting coil or it is multiple may be constructed one group, often
One transmitting coil is connected to a drive module, each drive module is connected in control module.
4. a kind of electromagnetic positioning system according to claim 1 or 3, which is characterized in that the induction coil and emission lines
It encloses the array of composition, drive module, wireless communication connection be respectively adopted between control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325539.4U CN208999556U (en) | 2018-08-15 | 2018-08-15 | A kind of electromagnetic positioning system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821325539.4U CN208999556U (en) | 2018-08-15 | 2018-08-15 | A kind of electromagnetic positioning system |
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| CN208999556U true CN208999556U (en) | 2019-06-18 |
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| CN201821325539.4U Active CN208999556U (en) | 2018-08-15 | 2018-08-15 | A kind of electromagnetic positioning system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230207A (en) * | 2020-09-22 | 2021-01-15 | 辽宁工程技术大学 | Mutual inductance-based non-contact distance measuring and positioning instrument and use method thereof |
| CN112363232A (en) * | 2020-11-21 | 2021-02-12 | 中北大学 | Metal detection system under multimode array excitation |
| CN113281700A (en) * | 2021-04-20 | 2021-08-20 | 宜宾学院 | Wireless electromagnetic positioning system and method |
-
2018
- 2018-08-15 CN CN201821325539.4U patent/CN208999556U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230207A (en) * | 2020-09-22 | 2021-01-15 | 辽宁工程技术大学 | Mutual inductance-based non-contact distance measuring and positioning instrument and use method thereof |
| CN112230207B (en) * | 2020-09-22 | 2024-01-09 | 辽宁工程技术大学 | Non-contact distance measurement and positioning instrument based on mutual inductance and use method thereof |
| CN112363232A (en) * | 2020-11-21 | 2021-02-12 | 中北大学 | Metal detection system under multimode array excitation |
| CN113281700A (en) * | 2021-04-20 | 2021-08-20 | 宜宾学院 | Wireless electromagnetic positioning system and method |
| CN113281700B (en) * | 2021-04-20 | 2023-10-31 | 宜宾学院 | Wireless electromagnetic positioning system and method |
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