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Electromagnetic tracking method based on inductance coil

A technology of inductive coils and coils, which is applied in the field of sensors, can solve the problems of large influence of external light and complex sensor control, etc., and achieve the effect of stable detection results and wide application fields

Inactive Publication Date: 2011-09-14
SHANGHAI UNIVERSITY OF ELECTRIC POWER
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Problems solved by technology

[0004] The present invention aims at the problem that the sensor control in the current mobile robot is complex and is greatly affected by external light, and proposes an electromagnetic tracking method based on an inductive coil. An electromagnetic tracking scheme using an inductive coil as a sensor, through the inductive coil Research on the number and layout of the equipment, so as to determine the positional relationship between the moving object and the current-carrying wire

Method used

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  • Electromagnetic tracking method based on inductance coil
  • Electromagnetic tracking method based on inductance coil
  • Electromagnetic tracking method based on inductance coil

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Embodiment Construction

[0025] According to Maxwell's electromagnetic field theory, an alternating current produces an alternating electromagnetic field around a wire. The spatial position of the measuring point from the wire can be deduced by detecting the strength and direction of the corresponding electromagnetic field. Place an inductance coil in an alternating magnetic field, and electromagnetic induction will generate an alternating current in the coil, such as figure 1 shown. Under the given condition of wire position and current in the wire, the induced current (or voltage) in the coil is a function of the spatial position.

[0026] The trajectories of moving objects are mainly divided into several types such as straight roads, big bends, small bends and cross curves. For the convenience of the following description, take car 4 as an example, establish as figure 2 The spatial rectangular coordinate system shown. In the car body coordinate system, define the forward direction of the car ...

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Abstract

The invention relates to an electromagnetic tracking method based on an inductance coil. The inductance coil detects the magnitude of a magnetic field around a current carrying wire, so as to determine a position relationship between a moving object and the current carrying wire. Through the research on the number and the arrangement of the inductance coils, an electromagnetic-guidance-based tacking method consisting of seven inductance sensors is designed, so the detection of a magnetic signal under different wire arrangements and complicated magnetic field environment is well realized so as to determine the position. A detection result is more stable, reliable and effective, and the device has the characteristics of simpleness, reliability and wide application fields.

Description

technical field [0001] The invention relates to a sensor technology, in particular to an electromagnetic tracking method based on an inductance coil. Background technique [0002] As a mobile robot, automatic guided vehicle (AGV) has developed rapidly in recent years. It is mainly used in flexible processing systems, flexible assembly systems (using AGV as an active assembly platform), automated three-dimensional warehouses, and other industries as handling equipment. The pervasive application of its sensor technology in automated guided vehicles. The AGV is mainly composed of a guide module, a walking module, a guide sensor, a microprocessor, a communication device, a transfer device and a battery. Among them, the guide sensor module is one of the key modules of the AGV. The AGV senses the surrounding things through the guide sensor, and ensures that the AGV trolley walks along the correct path with a certain accuracy through the control device. At present, the more comm...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00
Inventor 杨宁王博杨嘉骏徐凌波
Owner SHANGHAI UNIVERSITY OF ELECTRIC POWER
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