Magnetic field detection circuit, magnetic nail detection device and magnetic nail positioning method

Abstract

The invention discloses a magnetic field detection circuit, a magnetic nail detection device and a magnetic nail positioning method. The magnetic field detection circuit comprises a Wheatstone bridge, a differential amplification circuit, a low-pass filter circuit and a rectification detection circuit, wherein the Wheatstone bridge is formed by putting up four metal film magneto-resistors; the magnetic nail detection device comprises s magnetic detection modules packaging the identical magnetic field detection circuits. According to the magnetic field detection circuit and the magnetic nail detection device, a differential voltage signal changed with an external magnetic field can be output via the Wheatstone bridge by virtue of an aeolotropy magnetoresistive effect of the metal film magneto-resistors; the voltage signal is then subjected to amplification, low-pass filtration and rectification detection; the signal acquisition precision is improved; a high frequency noise is removed by the filtration; the signal is output more smoothly; the magnetic nail positioning method achieves precise detection of lateral offset of a magnetic nail relative to the center of the magnetic nail detection device and further contributes to improvement of the navigation precision of the magnetic nail.

Description

technical field [0001] The invention belongs to the technical field of navigation of mobile robots, and in particular relates to a magnetic field detection circuit in magnetic nail navigation, a magnetic nail detection device and a magnetic nail positioning method. Background technique [0002] Magnetic navigation technology has been widely used in the autonomous navigation of mobile robots. At present, the commonly used magnetic induction control methods mainly include magnetic force line navigation, magnetic tape navigation and magnetic nail navigation. Magnetic force line navigation is to bury metal wires on the driving path of the mobile robot, and load the guiding frequency on the metal wires, and realize the robot's navigation by identifying the guiding frequency. This navigation method has the advantages of hidden guide lines, not easy to be polluted and damaged, and the guiding principle is simple and reliable. Tape navigation refers to sticking tapes on the drivin...

AI Technical Summary

Problems solved by technology

At present, there are few magnetic field detection circuits for magnetic nail navigation at home and abroad, and more are based on Hall element detection sensors used in magnetic tape navigation, such as HMC1033, XGS-16N and other sensors. These sensors are not only expensive , usually ranging from hundreds or even thousands of dollars, and the accuracy and stability in magnetic nail navigation are not high enough, because the magnetic field of the magnetic tape has continuous and uniform characteristics, while the magnetic field of the magnetic nail is discrete and unevenly distributed

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