A magnetic field detection circuit, a magnetic nail detection device and a magnetic nail positioning method
A detection circuit and detection device technology, which is applied in navigation calculation tools, ground navigation, etc., can solve the problems of discrete magnetic field, uneven distribution, and insufficient precision and stability of magnetic nail navigation, and achieve simple circuit structure and easy fabrication. low cost effect
Active Publication Date: 2019-10-15
JIANGSU NEWAMSTAR PACKAGING MACHINERY
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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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[0032] In order to improve the stability and accuracy of the magnetic nail navigation of the mobile robot, in view of the discrete and non-uniform characteristics of the magnetic nail magnetic field in the magnetic nail navigation, the present invention proposes a magnetic field detection circuit, a magnetic nail detection device and a magnetic nail positioning method, Its basic working principle is: with the help of the anisotropic magnetoresistance effect of metal film magnetoresistance, that is, applying a bias magnetic field on the bridge to make the resistance of two film magnetoresistances placed opposite each other with the same magnetization direction and current direction. The increase of the value reduces the resistance of the other two thin-film magnetoresistors placed opposite to the direction of magnetization and the current direction, so that the bridge outputs a differential voltage signal that changes with the external magnetic field; Amplify the output signal o...
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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...
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IPC IPC(8): G01C21/06G01C21/20
Inventor 袁明新华晓彬姜烽王彬彬张政霖凌和强申燚
Owner JIANGSU NEWAMSTAR PACKAGING MACHINERY