Magnetic navigation sensor with angle detection function

Abstract

The invention discloses a magnetic navigation sensor with angle detection, and particularly relates to the technical field of channel control, which comprises a shell, a magnetoresistive sensor, a support frame and a gap positioning mechanism, wherein the gap positioning mechanism comprises a linkage screw rod, a first micro motor, a concave sleeve block, a connecting shaft, a sleeving rod, a push shaft, a concave push block, a sleeving push plate and a distance sensor; the device further comprises a linkage processing mechanism and an inclination displacement recognition assembly. Through the gap positioning mechanism, foreign matter sensing between the magnetic stripe and the magnetic navigation sensor is avoided, misjudgment of channel control of the magnetic navigation sensor is avoided, and the channel control precision of the magnetic navigation sensor is greatly improved, so that the problem that foreign matter sensing between the magnetic stripe and the magnetic navigation sensor is caused is solved. The problem that channel control precision of the magnetic navigation sensor is greatly reduced due to misjudgment of channel control of the magnetic navigation sensor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of channel control, and more particularly to a magnetic navigation sensor with angle detection. Background Art

[0002] The main principle of the magnetic navigation sensor with angle detection for intelligent sensing is that the sensor uses the internal magnetoresistive sensor element to sense changes in the surrounding magnetic field. When the sensor moves, the magnetic field sensing element inside it will detect changes in the direction and intensity of the magnetic field. By processing and analyzing the magnetic field measurement data, the sensor can calculate the angle information related to the magnetic field change. This usually involves converting the analog signal output by the magnetic field sensing element into a digital signal, and further filtering, amplifying and calibrating it, so as to know the angular position of the magnetic stripe, realize channel control, and move according to the specified channel.

[0003] After searching, in the existing public documents, the Chinese patent announcement number CN205300596U discloses an AGV magnetic stripe navigation sensor, the main chip of which is a second-axis magnetometer through the second signal acquisition circuit; an AGV magnetic stripe is arranged between the first-axis magnetometer and the second-axis magnetometer. This utility model improves the problems of low detection accuracy and poor real-time performance of traditional detection point-type magnetic stripe sensors. At the same time, the relative position of the magnetic stripe sensor and the magnetic stripe is expressed in the form of a continuous digital quantity. However, this technology has the following problems.

[0004] When the magnetic navigation sensor is used for channel control, although it can sense the changes in the magnetic field of the surrounding magnetic stripes and calculate the angle information related to the magnetic field changes, in actual use, it is still necessary to sense the changes in the magnetic field of the surrounding magnetic stripes to ensure that the intelligent sensing device controls the driving along the specified channel. Once there are a lot of debris or foreign matter on the magnetic stripe and it is not removed in time, this will lead to foreign matter sensing between the magnetic stripe and the magnetic navigation sensor, making the channel control of the magnetic navigation sensor extremely prone to misjudgment, thereby greatly reducing the channel control accuracy of the magnetic navigation sensor. For this reason, a magnetic navigation sensor with angle detection is needed. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides the following technical solutions: A magnetic navigation sensor with angle detection comprises a shell, a magnetoresistive sensor and a support frame, the magnetoresistive sensor is fixedly connected to the inner wall of the shell, the support frame is fixedly connected to one side of the shell, and a gap positioning mechanism is installed inside the support frame; the gap positioning mechanism comprises a linkage screw rotatably installed inside the support frame, and a first micro motor is fixedly connected to one side of the inner wall of the support frame, the first micro motor is used to drive the linkage screw to rotate, the outer wall of the linkage screw is threadedly connected with a concave sleeve block, and one side of the inner wall of the concave sleeve block is fixedly connected with a connecting shaft; the outer wall of the connecting shaft is rotatably connected with a sleeve rod, and the inner wall of the sleeve rod is rotatably connected with a push shaft at a position away from the connecting shaft, one end of the push shaft is fixedly connected with a concave push block, and a sleeve push plate is fixedly connected to the bottom end of the concave push block; the bottom end of the sleeve push plate is fixedly connected with a distance sensor; a linkage processing mechanism is installed inside the sleeve push plate; an inclination displacement recognition component is provided on one side of the support frame.

[0006] Preferably, the concave sleeve block is slidably connected to the support frame, the vertical cross-sections of the connecting shaft and the push shaft are both circular, the vertical cross-sections of the connecting shaft and the push shaft are both circular, one side of the sleeve push plate is fixedly connected with a sleeve frame, and the inner wall of the sleeve frame is slidably connected with a guide column, and the bottom end of the guide column is fixedly connected with a support block; the support block is fixedly connected to the shell, one end of the support frame is fixedly connected with a controller, and the controller is fixedly connected to the shell, the top of the magnetoresistive sensor is fixedly connected with a wiring port, and the top of the shell is fixedly connected with an indicator light; the upper surface of the magnetoresistive sensor and located on one side of the wiring port is fixedly connected with an angle calculator.

[0007] When the present technology is in use, the first micro-motor drives the linkage screw to rotate, and the concave sleeve block can slide rightward along the inner wall of the support frame. The connecting shaft causes the top end of the sleeve rod to move rightward, and the push shaft drives the concave push block to move downward, and the concave push block also drives the sleeve frame to move downward. The sleeve frame slides down along the outer wall guide of the guide column, the support block supports the guide column, the sleeve push plate drives the distance sensor to move downward, and the rotating shaft drives the processing sleeve plate to move downward. The bottom ends of the two processing sleeve plates are located on the upper surface of the magnetic strip. When the distance value sensed by the distance sensor is the same as the distance value set by the controller, the first micro-motor is turned off by the controller.

[0008] The outer wall of the two wheels is fixed with a plurality of rotating shafts, each of which is connected with a plurality of rotating shafts, and the rotating shafts are connected with a plurality of rotating shafts at a plurality of opposite ends of the rotating shafts.

[0009] When this technology is in use, the micro reduction motor drives the bidirectional screw to rotate, the distance between the two articulated sleeve blocks becomes larger, the articulated sleeve block drives the articulated shaft to move left, the articulated shaft causes one end of the pushing sleeve rod to move left, and the other end of the pushing sleeve rod pushes the articulated push shaft to rotate counterclockwise, the processing sleeve plate drives the rotating shaft to rotate counterclockwise, the rotating shaft rotates counterclockwise on the sleeve push plate, and the other processing sleeve plate rotates clockwise, so that the two processing sleeve plates can perform outward expansion processing on the debris sensed by the visual sensor.

[0010] Preferably, the tilt displacement identification component comprises an inclined support plate arranged on one side of the support frame; A V-shaped groove is provided on the inner wall of the inclined support plate, and a sliding column is slidably connected to the inner wall of the V-shaped groove, and a visual sensor is fixedly connected to the bottom end of the sliding column; the upper surface and the lower surface of the inclined support plate are slidably connected to limit rings, and the two limit rings are fixedly connected to the sliding column, and a visual sensor is fixedly installed on the bottom end of the sliding column; a guide slide bar is provided above one of the limit rings, and the guide slide bar is slidably connected to the sliding column, and a threaded sleeve block is fixedly connected to the bottom end of the guide slide bar, and a driving screw is threadedly connected to the inner wall of the threaded sleeve block, and a second micro motor is fixedly connected to one end of the driving screw.

[0011] A reinforcement block is provided on one side of the second micro motor, the support frame and the second micro motor are fixedly connected to the reinforcement block, a shaft sleeve is provided on one side of the threaded sleeve block, and the shaft sleeve is rotatably connected to the outer wall of the driving screw; the support frame and the inclined support plate are fixedly connected to the shaft sleeve, the two limit rings are symmetrically arranged about the inclined support plate, and the cross-sectional shape of the V-shaped groove is V-shaped.

[0012] When this technology is in use, the controller starts the second micro motor, so that the second micro motor drives the driving screw to rotate forward, the driving screw drives the threaded sleeve to move left under the action of the thread transmission force, the guide slide rod drives the slide column to move left along the inner wall of the V-shaped groove in a V-shaped path, and the slide column drives the two limit rings to move left along the V-shaped path, and the visual sensor can sense the debris on the ground position of the magnetic strip. When the threaded sleeve moves to the left to the left, the controller starts the second micro motor to drive the driving screw to reverse, the threaded sleeve makes the guide slide rod move right along the V-shaped path, and the slide column moves right along the inside of the V-shaped groove in a V-shaped path, and the visual sensor can perform image recognition of debris appearing on the magnetic strip.

[0013] Technical effects and advantages of the present invention: The present invention uses a gap positioning mechanism. The first micro motor drives the linkage screw to rotate. The linkage screw carries the concave sleeve block to move right under the action of the thread transmission force. The concave sleeve block drives the connecting shaft to move right. The connecting shaft causes the top of the sleeve rod to move right. The concave push block causes the sleeve push plate to move downward synchronously. The concave push block also drives the sleeve frame to move downward. The sleeve push plate drives the distance sensor to move downward, and the sleeve push plate drives the two rotating shafts to move downward at the same time. The bottom ends of the two processing sleeves are located on the upper surface of the magnetic strip. There is a gap between the processing sleeves and the magnetic strip, thereby ensuring that the two processing sleeves can remove debris on the magnetic strip at a specified gap, avoiding foreign body sensing between the magnetic strip and the magnetic navigation sensor, and preventing misjudgment of the channel control of the magnetic navigation sensor, thereby greatly improving the channel control accuracy of the magnetic navigation sensor.

[0014] The present invention utilizes a linkage processing mechanism, and a micro-reduction motor drives the bidirectional screw to rotate, so that the distance between the two articulated sleeve blocks becomes larger, and the articulated shaft causes one end of the pushing sleeve rod to move left, while the other end of the pushing sleeve rod pushes the articulated push shaft to rotate counterclockwise, and the processing sleeve plate drives the rotating shaft to rotate counterclockwise, and the rotating shaft rotates counterclockwise on the sleeve push plate, and the other processing sleeve plate rotates clockwise. The two processing sleeve plates can perform outward expansion processing on the debris sensed by the visual sensor, so that the debris is processed to the positions on both sides, avoiding the presence of debris on the magnetic strip to cause recognition obstruction, and ensuring that the magnetoresistive sensor can perform precise channel control sensing according to the magnetic strip.

[0015] The present invention uses a tilt displacement identification component, and the controller starts the second micro motor, so that the second micro motor drives the driving screw to rotate forward, and the driving screw drives the threaded sleeve to move left under the action of the thread transmission force, and the guide slide rod drives the slide column to move left along the inner wall of the V-shaped groove in a V-shaped path, and the slide column drives the visual sensor to move left along the V-shaped path. The controller starts the second micro motor to drive the driving screw to reverse, and the threaded sleeve makes the guide slide rod move right along the V-shaped path, and the slide column drives the visual sensor to move right along the V-shaped path. The visual sensor can quickly identify the debris appearing on the magnetic strip, thereby realizing the tilt identification of large-area debris, the identification area is wider, and the debris on the magnetic strip is removed in time, thereby ensuring that the magnetic resistance sensor can perform precise channel control sensing according to the magnetic strip.

[0016] According to the mutual influence of the above multiple effects, firstly, it is ensured that there is a designated clearance between the two processing plates and the magnetic strip, and secondly, the visual sensor is tilted and reciprocated along the V-shaped path for identification, so that the visual sensor can quickly identify the debris appearing on the magnetic strip, and finally, the two processing plates can perform external expansion processing on the debris sensed by the visual sensor. In summary, the debris can be processed and removed in time to avoid foreign body sensing between the magnetic strip and the magnetic navigation sensor, so that the channel control of the magnetic navigation sensor can avoid misjudgment, thereby greatly improving the channel control accuracy of the magnetic navigation sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main structure of the magnetic navigation sensor with angle detection of the present invention.

[0018] Figure 2 It is a schematic diagram of the vertical cross-section structure of the magnetic navigation sensor with angle detection of the present invention.

[0019] Figure 3 It is a schematic diagram of the upward structure of the magnetic navigation sensor with angle detection of the present invention.

[0020] Figure 4 It is a schematic diagram of the partial structure of the connection between the support block and the shell of the present invention.

[0021] Figure 5 It is a schematic diagram of the partial structure of the connection between the sleeve push plate and the concave push block of the present invention.

[0022] Figure 6 It is a schematic diagram of the partial structure of the connection between the concave sleeve block and the connecting shaft of the present invention when viewed from above.

[0023] Figure 7 It is a schematic diagram of the main structure of the linkage processing mechanism of the present invention.

[0024] Figure 8 It is a schematic diagram of the partial structure of the cross section of the connection between the sleeve push plate and the slide frame of the present invention when viewed from above.

[0025] Fig. 9 It is a schematic diagram of the top view of the linkage processing mechanism of the present invention.

[0026] Fig.10 For the present invention Fig. 9 Enlarged structural diagram at A in the middle.

[0027] The accompanying drawings are marked as follows: 1, housing; 2, magnetic resistance sensor; 3, support frame; 4, linkage screw; 5, first micro motor; 6, concave sleeve block; 7, connecting shaft; 8, sleeve rod; 9, push shaft; 10, concave push block; 11, sleeve push plate; 12, distance sensor; 13, sleeve frame; 14, guide column; 15, support block; 16, controller; 17, wiring port; 18, indicator light; 19, angle calculator; 20, rotating shaft; 2 1. Processing sleeve; 22. Slide frame; 23. Bidirectional screw; 24. Micro reduction motor; 25. Articulated sleeve block; 26. Articulated shaft; 27. Push sleeve rod; 28. Articulated push shaft; 29. ​​Inclined support plate; 30. V-shaped groove; 31. Sliding column; 32. Limiting ring; 33. Visual sensor; 34. Guide slide rod; 35. Threaded sleeve block; 36. Driving screw; 37. Second micro motor; 38. Reinforcement block; 39. Bushing. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] As attached Figure 1-10 A magnetic navigation sensor with angle detection is shown. The magnetic navigation sensor with angle detection is provided with a gap positioning mechanism, a linkage processing mechanism, and a tilt displacement recognition component. The settings of each mechanism and component can timely process and remove debris to avoid foreign body sensing between the magnetic strip and the magnetic navigation sensor, so that the channel control of the magnetic navigation sensor avoids misjudgment, thereby greatly improving the channel control accuracy of the magnetic navigation sensor. The specific structural settings of each mechanism and component are as follows.

[0030] In this technical solution, as shown in the attached Figure 1-6As shown, the gap positioning mechanism includes a linkage screw 4 rotatably installed inside the support frame 3, and a first micro motor 5 is fixedly connected to one side of the inner wall of the support frame 3, the first micro motor 5 is used to drive the linkage screw 4 to rotate, the outer wall of the linkage screw 4 is threadedly connected to a concave sleeve block 6, and one side of the inner wall of the concave sleeve block 6 is fixedly connected to a connecting shaft 7; the outer wall of the connecting shaft 7 is rotatably connected to a sleeve rod 8, and the inner wall of the sleeve rod 8 is rotatably connected to a push shaft 9 at a position away from the connecting shaft 7, one end of the push shaft 9 is fixedly connected to a concave push block 10, and a sleeve push plate 11 is fixedly connected to the bottom end of the concave push block 10; the bottom end of the sleeve push plate 11 is fixedly connected to a distance sensor 12; a linkage processing mechanism is installed inside the sleeve push plate 11; one side of the support frame 3 is provided with an inclination displacement recognition component.

[0031] In this technical solution, as shown in the attached Figure 1-4 As shown, a sleeve frame 13 is fixedly connected to one side of the sleeve push plate 11, and a guide column 14 is slidably connected to the inner wall of the sleeve frame 13, and a support block 15 is fixedly connected to the bottom end of the guide column 14; the support block 15 is fixedly connected to the housing 1, so that the concave push block 10 will also drive the sleeve frame 13 to move downward, and the sleeve frame 13 slides down along the outer wall of the guide column 14, and the sleeve frame 13 slides down along the outer wall of the guide column 14, and the housing 1 supports the support block 15 to improve the stability of the support block 15. A controller 16 is fixedly connected to one end of the support frame 3, and the controller 16 is fixedly connected to the housing 1, so that the first micro motor 5 is then started by the controller 16, and the first micro motor 5 drives the linkage screw 4 to rotate, thereby realizing the driving operation of the first micro motor 5.

[0032] The top of the magnetoresistive sensor 2 is fixedly connected to a wiring port 17, and the top of the shell 1 is fixedly connected to an indicator light 18; an angle calculator 19 is fixedly connected to the upper surface of the magnetoresistive sensor 2 and located on one side of the wiring port 17, so that it can be connected to the wiring port 17 using a wiring harness and the shell 1 can be fixed. When the indicator light 18 is green, it means that the magnetoresistive sensor 2 is in normal use.

[0033] In this technical solution, as shown in the attached Figure 4-8 As shown, the linkage processing mechanism includes two rotating shafts 20 rotatably installed inside the sleeve push plate 11; the outer wall of each rotating shaft 20 is rotatably connected to a processing sleeve plate 21, a gap is provided between the two processing sleeve plates 21, a sliding frame 22 is provided on one side of the processing sleeve plate 21, the sliding frame 22 is fixedly connected to the sleeve push plate 11, and the sliding frame 22 is slidably connected to the shell 1.

[0034] A micro reduction motor 24 is fixedly connected to one side of the inner wall of the slide frame 22, and a bidirectional screw 23 is fixedly connected to the output end of the micro reduction motor 24. Two hinge sleeves 25 are threadedly connected to the outer wall of the bidirectional screw 23. A hinge shaft 26 is fixedly connected to one side of the inner wall of the hinge sleeve 25. A push sleeve rod 27 is rotatably connected to the outer wall of the hinge shaft 26. The inner wall of the push sleeve rod 27 is rotatably connected to a hinge push shaft 28 at a position away from the hinge shaft 26, and the hinge push shaft 28 is fixedly connected to the processing sleeve plate 21. Both hinge sleeve blocks 25 are slidably connected to the slide frame 22, and the outer wall of the hinge sleeve block 25 and the inner wall of the slide frame 22 are smooth surfaces. The outer wall of the bidirectional screw 23 has two threads that are opposite and symmetrical, and the micro reduction motor 24 is used to drive the bidirectional screw 23 to rotate.

[0035] In this technical solution, as shown in the attached Figure 9-10 As shown, the tilt displacement identification component includes an tilt support plate 29 arranged on one side of the support frame 3; a V-shaped groove 30 is opened on the inner wall of the tilt support plate 29, and a sliding column 31 is slidably connected to the inner wall of the V-shaped groove 30, and a visual sensor 33 is fixedly connected to the bottom end of the sliding column 31; the upper surface and the lower surface of the tilt support plate 29 are both slidably connected to limit rings 32, and the two limit rings 32 are fixedly connected to the sliding column 31, and a visual sensor 33 is fixedly installed on the bottom end of the sliding column 31.

[0036] A guide slide bar 34 is provided above one of the limit rings 32, and the guide slide bar 34 is slidably connected to the slide column 31, and a threaded sleeve block 35 is fixedly connected to the bottom end of the guide slide bar 34, and a driving screw 36 is threadedly connected to the inner wall of the threaded sleeve block 35, and a second micro motor 37 is fixedly connected to one end of the driving screw 36; a reinforcement block 38 is provided on one side of the second micro motor 37, and the support frame 3 and the second micro motor 37 are both fixedly connected to the reinforcement block 38, and a shaft sleeve 39 is provided on one side of the threaded sleeve block 35, and the shaft sleeve 39 is rotatably connected to the outer wall of the driving screw 36; the support frame 3 and the inclined support plate 29 are both fixedly connected to the shaft sleeve 39. The two limit rings 32 are symmetrically arranged about the inclined support plate 29, and the cross-sectional shape of the V-shaped groove 30 is V-shaped.

[0037] The use principle of the magnetic navigation sensor with angle detection of the present invention is as follows: Step 1: When locating the gap, first connect the shell 1 to the intelligent sensing device of the AGV mobile machine, and place the shell 1 above the magnetic strip. Insert two bolts into the holes of the shell 1 to install the shell 1 on the intelligent sensing device of the AGV mobile machine. Use the wiring harness to connect to the wiring port 17, and fix the shell 1. When the indicator light 18 is green, it means that the magnetic resistance sensor 2 is in normal use.

[0038] Then, the first micro motor 5 is started through the controller 16, and the first micro motor 5 drives the linkage screw 4 to rotate. The linkage screw 4 carries the concave sleeve block 6 to move right under the action of the thread transmission force, and the concave sleeve block 6 can slide right along the inner wall of the support frame 3, and the concave sleeve block 6 drives the connecting shaft 7 to move right. The connecting shaft 7 makes the top of the sleeve rod 8 move right, and the bottom end of the sleeve rod 8 drives the push shaft 9 to move downward, and the push shaft 9 drives the concave push block 10 to move downward. The concave push block 10 makes the sleeve push plate 11 move downward synchronously, and the concave push block 10 will also drive the sleeve frame 13 to move downward, and the sleeve frame 13 slides down along the outer wall of the guide column 14, and the sleeve frame 13 slides down along the outer wall of the guide column 14, and the shell 1 supports the support block 15, and the support block 15 supports the guide column 14, which greatly improves the stability of the guide column 14.

[0039] At the same time, the sleeve push plate 11 drives the distance sensor 12 to move downward, and the sleeve push plate 11 will simultaneously drive the two shafts 20 to move downward, and the shafts 20 drive the processing sleeve 21 to move downward, the bottom ends of the two processing sleeves 21 are located on the upper surface of the magnetic strip, and there is a gap between the processing sleeve 21 and the magnetic strip, and at the same time, the distance between the distance sensor 12 and the ground is sensed by the distance sensor 12. When the distance value sensed by the distance sensor 12 is the same as the distance value set by the controller 16, the first micro motor 5 is turned off by the controller 16.

[0040] Step 2. When the magnetic navigation sensor is used, when the shell 1 is moving, the changes in the direction and intensity of the magnetic field are detected by the magnetoresistive sensor 2 inside the shell 1, and the angle information related to the magnetic field change can be calculated by the angle calculator 19, thereby realizing the angle detection operation. In this way, the data is transmitted to the intelligent sensing device of the AGV mobile machine through the wiring port 17, and the movement can be accurately controlled according to the course of the magnetic strip.

[0041] Step 3: During tilt displacement identification, the housing 1 supports the support frame 3, the support frame 3 supports the reinforcement block 38, the reinforcement block 38 supports the second micro motor 37, and the controller 16 starts the second micro motor 37, so that the second micro motor 37 drives the driving screw 36 to rotate forward, and the driving screw 36 rotates inside the shaft sleeve 39. At the same time, the driving screw 36 drives the threaded sleeve 35 to move left under the action of the thread transmission force, and the threaded sleeve 35 drives the guide slide bar 34 to move left, the guide slide bar 34 drives the slide column 31 to move left along the inner wall of the V-shaped groove 30 in a V-shaped path, and the slide column 31 slides along the outer wall of the guide slide bar 34, the slide column 31 drives the two limit rings 32 to move left along the V-shaped path, and the slide column 31 drives the visual sensor 33 to move left along the V-shaped path, so that the ground position of the magnetic strip can be sensed by the visual sensor 33.

[0042] When the threaded sleeve 35 moves to the leftmost position, the controller 16 starts the second micro motor 37 to drive the driving screw 36 to reverse, so that the driving screw 36 drives the threaded sleeve 35 to move right under the action of the thread transmission force, and the threaded sleeve 35 causes the guide slide bar 34 to move right along the V-shaped path, the guide slide bar 34 drives the slide column 31 to move right along the V-shaped path, the slide column 31 moves right along the V-shaped path inside the V-shaped groove 30, and the slide column 31 drives the visual sensor 33 to move right along the V-shaped path. The visual sensor 33 can perform image recognition on the debris appearing on the magnetic strip, and after recognition, the micro reduction motor 24 is started through the controller 16.

[0043] Step 4: During linkage processing, the micro reduction motor 24 drives the bidirectional screw 23 to rotate. The bidirectional screw 23 makes the two articulated sleeve blocks 25 move to the left and the other articulated sleeve block 25 moves to the right. The articulated sleeve block 25 drives the articulated shaft 26 to move to the left. The articulated shaft 26 makes one end of the push sleeve rod 27 move to the left, and the other end of the push sleeve rod 27 drives the articulated push shaft 28 to rotate counterclockwise. The articulated push shaft 28 drives the processing sleeve The plate 21 rotates counterclockwise, the processing sleeve 21 drives the rotating shaft 20 to rotate counterclockwise, the rotating shaft 20 rotates counterclockwise on the sleeve push plate 11, and the other processing sleeve 21 rotates clockwise, so that the two processing sleeves 21 can expand the debris sensed by the visual sensor 33, so that the debris is processed to the positions on both sides, thus avoiding the presence of debris on the magnetic strip to cause recognition obstruction, ensuring that the magnetoresistive sensor 2 can perform precise channel control sensing according to the magnetic strip, and accurately control movement along the channel.

[0044] The contents not described in detail in the specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, the electrical control components not mentioned are not shown in the figure because they belong to the prior art and will not be described here.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A magnetic navigation sensor with angle detection, comprising a housing (1), a magnetoresistive sensor (2) and a support frame (3), wherein the magnetoresistive sensor (2) is fixedly connected to an inner wall of the housing (1), and the support frame (3) is fixedly connected to one side of the housing (1), characterized in that: A gap positioning mechanism is installed inside the support frame (3); The gap positioning mechanism comprises a linkage screw (4) rotatably mounted inside the support frame (3), and a first micro motor (5) is fixedly connected to one side of the inner wall of the support frame (3), the first micro motor (5) is used to drive the linkage screw (4) to rotate, the outer wall of the linkage screw (4) is threadedly connected to a concave sleeve block (6), and the inner wall of the concave sleeve block (6) is fixedly connected to a connecting shaft (7); The outer wall of the connecting shaft (7) is rotatably connected to a sleeve rod (8), the inner wall of the sleeve rod (8) is rotatably connected to a push shaft (9) at a position away from the connecting shaft (7), one end of the push shaft (9) is fixedly connected to a concave push block (10), and the bottom end of the concave push block (10) is fixedly connected to a sleeve push plate (11); A distance sensor (12) is fixedly connected to the bottom end of the sleeve push plate (11); A linkage processing mechanism is installed inside the sleeve push plate (11); A tilt displacement identification component is provided on one side of the support frame (3).

2. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: The concave sleeve block (6) is slidably connected to the support frame (3); the vertical cross-sections of the connecting shaft (7) and the push shaft (9) are both circular; and the vertical cross-sections of the connecting shaft (7) and the push shaft (9) are both circular.

3. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: A sleeve frame (13) is fixedly connected to one side of the sleeve push plate (11), and a guide column (14) is slidably connected to the inner wall of the sleeve frame (13), and a support block (15) is fixedly connected to the bottom end of the guide column (14); The support block (15) is fixedly connected to the housing (1).

4. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: One end of the support frame (3) is fixedly connected to a controller (16), and the controller (16) is fixedly connected to the housing (1).

5. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: The top end of the magnetoresistive sensor (2) is fixedly connected to a wiring port (17), and the top end of the housing (1) is fixedly connected to an indicator light (18); An angle calculator (19) is fixedly connected to the upper surface of the magnetoresistive sensor (2) at a position on one side of the wiring port (17).

6. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: The linkage processing mechanism comprises two rotating shafts (20) rotatably mounted inside the sleeve push plate (11); The outer wall of each rotating shaft (20) is rotatably connected to a processing sleeve (21), a gap is provided between the two processing sleeves (21), a sliding frame (22) is provided on one side of the processing sleeve (21), the sliding frame (22) is fixedly connected to the sleeve push plate (11), and the sliding frame (22) is slidably connected to the housing (1); A micro reduction motor (24) is fixedly connected to one side of the inner wall of the slide frame (22), and a bidirectional screw (23) is fixedly connected to the output end of the micro reduction motor (24); the outer wall of the bidirectional screw (23) is threadedly connected to two hinged sleeves (25); a hinge shaft (26) is fixedly connected to one side of the inner wall of the hinged sleeve (25); and a push sleeve rod (27) is rotatably connected to the outer wall of the hinge shaft (26); A hinged push shaft (28) is rotatably connected to the inner wall of the push sleeve rod (27) at a position away from the hinge shaft (26), and the hinged push shaft (28) is fixedly connected to the processing sleeve plate (21).

7. The magnetic navigation sensor with angle detection according to claim 6, characterized in that: The two hinged sleeves (25) are both slidably connected to the slide frame (22), and the outer wall of the hinged sleeve (25) and the inner wall of the slide frame (22) are both smooth surfaces.

8. The magnetic navigation sensor with angle detection according to claim 6, characterized in that: The two threads on the outer wall of the bidirectional screw (23) are opposite and symmetrically arranged, and the micro reduction motor (24) is used to drive the bidirectional screw (23) to rotate.

9. The magnetic navigation sensor with angle detection according to claim 1, characterized in that: The tilt displacement identification component comprises an inclined support plate (29) arranged on one side of the support frame (3); The inner wall of the inclined support plate (29) is provided with a V-shaped groove (30), and the inner wall of the V-shaped groove (30) is slidably connected to a sliding column (31), and the bottom end of the sliding column (31) is fixedly connected to a visual sensor (33); The upper surface and the lower surface of the inclined support plate (29) are both slidably connected to limit rings (32), the two limit rings (32) are fixedly connected to the sliding column (31), and the bottom end of the sliding column (31) is fixedly mounted with a visual sensor (33); A guide slide rod (34) is provided above one of the limit rings (32), the guide slide rod (34) is slidably connected to the slide column (31), a threaded sleeve (35) is fixedly connected to the bottom end of the guide slide rod (34), a driving screw rod (36) is threadedly connected to the inner wall of the threaded sleeve (35), and a second micro motor (37) is fixedly connected to one end of the driving screw rod (36); A reinforcing block (38) is provided on one side of the second micro motor (37), the support frame (3) and the second micro motor (37) are fixedly connected to the reinforcing block (38), a shaft sleeve (39) is provided on one side of the threaded sleeve block (35), and the shaft sleeve (39) is rotatably connected to the outer wall of the driving screw rod (36); The support frame (3) and the inclined support plate (29) are both fixedly connected to the shaft sleeve (39).

10. The magnetic navigation sensor with angle detection according to claim 9, characterized in that: The two limiting rings (32) are symmetrically arranged with respect to the inclined support plate (29), and the cross-sectional shape of the V-shaped groove (30) is V-shaped.

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