CN111367293A - Underground logistics cabin positioning device and method - Google Patents

Underground logistics cabin positioning device and method Download PDF

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Publication number
CN111367293A
CN111367293A CN202010211725.0A CN202010211725A CN111367293A CN 111367293 A CN111367293 A CN 111367293A CN 202010211725 A CN202010211725 A CN 202010211725A CN 111367293 A CN111367293 A CN 111367293A
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logistics cabin
cabin body
logistics
positioning
moment
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辛改芳
朱俊
唐静
史新民
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Changzhou College of Information Technology CCIT
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Changzhou College of Information Technology CCIT
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft

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Abstract

The invention discloses a positioning device and a positioning method for an underground logistics cabin, wherein the positioning device comprises a plurality of magnetic nails which are sequentially arranged along a logistics cabin running track; the proximity switch responds to each magnetic nail in the process of moving along with the logistics cabin body; the position increment of the logistics cabin body is obtained by the incremental encoder; the yaw sensor acquires the yaw angle of the body of the logistics cabin; the positioning controller takes the position coordinates obtained by the proximity switch from the magnetic nail as the initial value of the position of the logistics cabin body, calculates the position components of the logistics cabin body along the horizontal axis and the longitudinal axis of the operation track by utilizing the position increment and the yaw angle degree in the operation process of the logistics cabin body, updates the position of the logistics cabin body in real time and completes the positioning of the underground logistics cabin body. The logistics cabin position monitoring system can solve the problems of inaccurate logistics cabin position monitoring, accumulated error, high cost and the like.

Description

Underground logistics cabin positioning device and method
Technical Field
The invention belongs to the technical field of positioning devices, and particularly relates to a positioning device and a positioning method for an underground logistics cabin.
Background
With the industrial heat trend of online shopping and express logistics, the logistics industry is upgraded from the traditional distribution mode to intelligent logistics, and particularly, an underground logistics distribution system is established by utilizing urban underground space, so that the system plays an important role in online consumption and urban upgrading, but higher requirements are provided for the automation and intelligence levels of logistics equipment. The advanced underground logistics system utilizes the tracks, the cabin body and the executing mechanism to assist in logistics transportation, and can carry out tasks such as delivery, transportation and scheduling of express in different areas, so that the efficiency and quality of the logistics system are effectively improved. The logistics cabin body is used as conventional equipment of the underground logistics system, logistics can be transferred, the logistics cabin body positioning technology is used as one of key technologies, and the current position of the logistics cabin body can be reported in real time, so that managers can check, count and dispatch conveniently in real time, and accurate position service is provided for the underground logistics system.
The conventional methods for dynamically positioning the logistics cabin include a gear counting method, an infrared correlation method, a laser positioning method, an incremental encoder method and the like. The gear counting method is characterized in that the specific position of the logistics cabin body is converted by detecting the rotation number of gear teeth of the traction part of the logistics cabin body, the method is quite mature, the cost is low, and the accumulated deviation exists after long-time operation; the infrared transmitting devices which are installed on each fixed position of the guide rail by an infrared correlation method emit infrared waves, when the logistics cabin moves to the front of the fixed position, the infrared waves are reflected by the vehicle body of the logistics cabin, the current moment is marked, namely, the logistics cabin is informed to a central station through a substation to move to the position, and the method can obtain accurate positioning performance only by deploying intensive infrared devices; the laser positioning method is characterized in that a laser transmitter is also arranged in a positioning area and a laser receiver is arranged on the logistics cabin body, when the logistics cabin body moves to a certain position, a laser signal from the laser transmitter is received, and the position of the laser transmitter is calibrated to be the position of the logistics cabin body, and the laser positioning method has high positioning accuracy but also needs intensive deployment; the incremental encoder method is mainly characterized in that an encoder is arranged on the wheel part of the logistics cabin body, the walking displacement of the logistics cabin body is converted into an electric signal and then converted into counting pulses, the number of the pulses is used for calculating the moving position of the logistics cabin body reversely, however, when the operation track of the logistics cabin body is inclined, a measurement error is easily caused, and meanwhile, inevitable accumulated errors exist in the operation of the logistics cabin body in long voyage.
Disclosure of Invention
Aiming at the problems, the invention provides a positioning device and a positioning method for an underground logistics cabin, which can solve the problems of inaccurate position monitoring, accumulative error, high cost and the like of the logistics cabin.
In order to achieve the technical purpose and achieve the technical effects, the invention is realized by the following technical scheme:
in a first aspect, the present invention provides an underground logistics cabin positioning device, including:
the magnetic nails are sequentially installed along the operation track of the logistics cabin body;
the proximity switch responds to each magnetic nail in the process of moving along with the logistics cabin body;
the incremental encoder is used for acquiring the position increment of the logistics cabin body;
the yaw sensor is used for acquiring the yaw angle of the logistics cabin body;
the positioning controller is respectively connected with the incremental encoder, the yaw sensor and the proximity switch;
the positioning controller takes the position coordinates obtained by the proximity switch from the magnetic nail as the initial value of the position of the logistics cabin body, calculates the position components of the logistics cabin body along the horizontal axis and the longitudinal axis of the operation track by utilizing the position increment and the yaw angle degree in the operation process of the logistics cabin body, updates the position of the logistics cabin body in real time and completes the positioning of the underground logistics cabin body.
Optionally, the plurality of magnetic nails are installed at the operation track of the logistics cabin at regular intervals L in an array form, and the array-forming magnetic nails are denoted as MNs ═ MN1,MN2,…,MNl]The coordinate of each magnetic nail obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]。
Optionally, between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the horizontal axis at each moment on the operation tracks is expressed as:
Figure BDA0002423051910000021
between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the longitudinal axis at each moment in the operation tracks is expressed as:
Figure BDA0002423051910000022
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]And the number of wheel rotations, measured at each moment by the incremental encoder, of the logistics cabin between the fixed distances L for the logistics cabin to run is represented, and r is the radius of the wheels of the logistics cabin.
Optionally, with magnetic nail coordinates MNiThe initial value of the position of the body of the logistics cabin is calculated by the following formula:
the real-time abscissa of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000023
the real-time longitudinal coordinate of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000024
wherein θ ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]The number of the wheel rotations corresponding to the logistics cabin measured at each moment by the incremental encoder between the fixed distances L of the logistics cabin in operation is shown, r is the radius of the wheels of the logistics cabin, and [ mx ]i,myi]Is a magnetic nail MNiThe coordinates of (a).
In a second aspect, the invention provides a method for positioning an underground logistics cabin, which comprises the following steps:
by utilizing a proximity switch arranged on the logistics cabin body, the logistics cabin body responds to the magnetic nails sequentially arranged along the logistics cabin body operation track in the process of moving along with the logistics cabin body;
acquiring position increment of the logistics cabin body by utilizing an incremental encoder arranged on the logistics cabin body;
acquiring a yaw angle of the logistics cabin body by using a yaw sensor arranged on the logistics cabin body;
and the position coordinates obtained by the proximity switch from the magnetic nails are used as the initial value of the position of the logistics cabin body by using the positioning controller, the position component of the logistics cabin body on the operation track along the horizontal axis and the longitudinal axis is calculated by using the position increment and the yaw angle during the operation process of the logistics cabin body, the position of the logistics cabin body is updated in real time, and the positioning of the underground logistics cabin body is completed.
Optionally, each magnetic nail is installed at the operation track of the logistics cabin at fixed intervals L in an array form, and the array magnetic nail is formed and is denoted as MNs ═ MN1,MN2,…,MNl]The coordinate of each magnetic nail obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]。
Optionally, between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the horizontal axis at each moment on the operation tracks is expressed as:
Figure BDA0002423051910000031
between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the longitudinal axis at each moment in the operation tracks is expressed as:
Figure BDA0002423051910000032
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]And the number of wheel rotations, measured at each moment by the incremental encoder, of the logistics cabin between the fixed distances L for the logistics cabin to run is represented, and r is the radius of the wheels of the logistics cabin.
Optionally, with magnetic nail coordinates MNiThe initial value of the position of the body of the logistics cabin is calculated by the following formula:
the real-time abscissa of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000033
the real-time longitudinal coordinate of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000034
wherein θ ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]The number of the wheel rotations measured at each moment of the logistics cabin by the incremental encoder between the fixed moving distances L of the logistics cabin is shown, r is the radius of the wheel of the logistics cabin, and [ mx ]i,myi]Is a magnetic nail MNiThe coordinates of (a).
Optionally, the method further comprises:
after the logistics cabin body runs for a fixed distance L, if the difference | lx between the real-time abscissa of the logistics cabin body and the abscissa of the magnetic nail isi-mxiAnd the difference | ly between the real-time ordinate of the car body in the logistics cabin and the ordinate of the magnetic naili-myiIf all is less than the error threshold epsilon, judging that the logistics cabin body has no accumulated error after a long time; on the contrary, when the logistics cabinDifference | lx between real-time abscissa of body and abscissa of magnetic naili-mxiIf is larger than the error threshold value epsilon, the difference | ly between the real-time longitudinal coordinate of the logistics cabin body and the longitudinal coordinate of the magnetic naili-myiIf the | is larger than the error threshold epsilon, judging that the logistics cabin body has accumulated errors after a long time, correcting the coordinates of the logistics cabin body, and using the abscissa and the ordinate of the magnetic nail as the initial abscissa and the initial ordinate of the logistics cabin body by the positioning controller.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, magnetic nails are arranged on the logistics cabin body running track at intervals to form array magnetic nails, Hall proximity switches are arranged on the logistics cabin body, and the logistics cabin body runs to the magnetic nails to trigger the Hall proximity switches to be closed, so that the accurate position of the logistics cabin body at a fixed point can be accurately determined; connecting the incremental encoder with a low-speed shaft of a reduction gearbox at the traction part of the logistics cabin body through an incremental encoder coupler, converting the angular displacement of the low-speed shaft into digital pulses, transmitting the digital pulses into a logistics cabin controller for pulse counting to obtain the number of rotation turns of a traction gear, and calculating the continuous position of the logistics cabin body; measuring the yaw angle of the logistics cabin body in real time by adopting a yaw sensor, and calculating the yaw angle and the obtained position to obtain the position components of the logistics cabin body along the transverse axis and the longitudinal axis in the plane; because the working conditions of the factory workshop are complex and the incremental encoder has accumulated errors after long-time operation, the position of the logistics cabin is updated in real time by taking the fixed point accurate position determined by the array magnetic nail and the Hall proximity switch as an initial value, so that the positioning accuracy of the logistics cabin is continuously optimized. The invention can be suitable for monitoring the position of the logistics cabin, and has the advantages of higher precision, convenient installation and low cost.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram and structure of the location monitoring of the underground logistics cabin of the present invention.
FIG. 2 is a schematic diagram of the structure of the positioning device of the underground logistics cabin.
FIG. 3 is a flow chart for writing the positioning calculation software for the underground logistics cabin combination according to the invention.
In the figure: the system comprises a logistics cabin body 1, an incremental encoder 2, a running track 3, a magnetic nail 4, a proximity switch 5, a yaw sensor 6 and a positioning controller 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
Example 1
The embodiment of the invention provides a positioning device for an underground logistics cabin, which is characterized in that array magnetic nails 4 are pre-arranged on a logistics cabin running track 3, initial coordinate calibration is carried out on each magnetic nail 4, a proximity switch 5 (a Hall proximity switch 5) is used as a reference response device to determine the position of a correction point, an incremental encoder 2 is used for detecting the real-time position of the logistics cabin, and a yaw sensor 6 is used for measuring the real-time yaw angle of the logistics cabin. And inputting the initial coordinates of the array magnetic nails 4, the parameters of the Hall proximity switch 5, the parameters of the incremental encoder 2 and the yaw sensing parameters into a positioning controller 7, and obtaining the real-time position of the logistics cabin through fusion and calculation. According to the invention, as the logistics cabin is detected in real time by adopting various sensors, the limitation of a single sensor can be effectively overcome, and the performance of the positioning device for the underground logistics cabin is enhanced.
As shown in fig. 1, the positioning device of the underground logistics cabin comprises:
the magnetic nails 4 are sequentially installed along the logistics cabin body operation track 3; and
for mounting on the body 1 of the logistics cabin:
the proximity switch 5 responds to each magnetic nail 4 in the process of moving along with the logistics cabin body 1, namely, the proximity switch 5 arranged on the logistics cabin body 1 generates a response signal with each magnetic nail 4 after passing a fixed moving distance L; the proximity switch 5 can adopt a Hall proximity switch 5;
the incremental encoder 2 is used for acquiring the position increment of the logistics cabin body 1;
the yaw sensor 6 is used for detecting the yaw angle of the logistics cabin body 1 in operation;
the positioning controller 7 is respectively connected with the incremental encoder 2, the yaw sensor 6 and the proximity switch 5; in the specific implementation process, the incremental encoder 2, the yaw sensor 6 and the proximity switch 5 are connected with the positioning controller 7 through serial ports;
the positioning controller 7 takes the position coordinates obtained by the proximity switch 5 from the magnetic nail 4 as the initial value of the position of the logistics cabin body 1, calculates the position components of the logistics cabin body 1 on the operation track 3 along the horizontal axis and the longitudinal axis by using the position increment and the yaw angle in the operation process of the logistics cabin body, updates the position of the logistics cabin body 1 in real time, and completes the positioning of the underground logistics cabin body.
In a specific implementation manner of the embodiment of the present invention, the magnetic nails 4 are installed at the operation track 3 of the logistics cabin at regular intervals L in an array form, and the array-formed magnetic nails 4 are denoted by MNs ═ MN1,MN2,…,MNl]The coordinate of each magnetic nail 4 obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]. If n logistics cabin bodies are deployed in the underground area, 1LCs ═ LC1,LC2,…,LCn]Wherein the coordinates of each logistics cabin body 1 are LCi＝[lxi,lyi]。
In a specific embodiment of the present invention, the logistics cabin body 1 rotates on the track 3, and the yaw sensor 6 measures an angle θ with the horizontal axis at each moment between the fixed distances L of the track 3 [ θ ═1,θ2,…,θm]And the number of the wheel rotation turns corresponding to the logistics cabin is measured at each moment by the incremental encoder 2 between the fixed distances L for the logistics cabin to be s ═ s1,s2,…,sm]Wheel half of logistics cabinWith a radius r, the distance traveled by the material-flow cabin along the track 3 at each moment can be expressed as DTs ═ 2 π rs, based on the incremental encoder 2 and the yaw sensor 61,2πrs2,…,2πrsm]。
Between the fixed distances L of the logistics cabin travel rails 3, the position component of the logistics cabin body 1 along the horizontal axis at each moment in the travel rails 3 is expressed as:
Figure BDA0002423051910000061
between the fixed distances L of the logistics cabin travel rails 3, the position component of the logistics cabin body 1 along the longitudinal axis of the travel rails 3 at each moment is represented as:
Figure BDA0002423051910000062
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment measured by the yaw sensor 6 and the transverse axis between the fixed running distance L of the logistics cabin is represented; s ═ s1,s2,…,sm]And the number of the wheel rotations, measured at each moment by the incremental encoder 2, of the logistics cabin between the fixed distances L of the logistics cabin in operation is represented, and r is the radius of the wheels of the logistics cabin.
In a specific implementation manner of the embodiment of the invention, the magnetic nail 4 coordinate MN is obtained by manually and accurately calibrating the magnetic nail 4 coordinateiAssigned to logistics cabin coordinates LCiI.e. the abscissa lx of the logistics cabin at a fixed distance LiIs equal to mxiAnd ordinate lyiIs equal to myi(ii) a As the logistics cabin body continues to move along the operation track 3, the magnetic nail 4 coordinates MNiThe initial value of the position of the logistics cabin body 1 is that the position of the logistics cabin body 1 is calculated by the following formula:
the real-time abscissa of the logistics cabin body 1 between the logistics cabin operation fixed distances L is as follows:
Figure BDA0002423051910000063
the real-time longitudinal coordinate of the logistics cabin body 1 between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000064
wherein θ ═ θ1,θ2,…,θm]The angle between each moment measured by the yaw sensor 6 and the transverse axis between the fixed running distance L of the logistics cabin is represented; s ═ s1,s2,…,sm]The number of the wheel rotations of the logistics cabin measured by the incremental encoder 2 at each moment among the fixed distances L of the logistics cabin is shown, r is the radius of the wheels of the logistics cabin, and [ mx ]i,myi]As a coordinate MN of the magnetic nail 4i。
In summary, as shown in fig. 3, the working process of the apparatus in the embodiment of the present invention specifically includes:
firstly, the array magnetic nails 4 are deployed and the three-dimensional coordinates of the array magnetic nails are accurately calibrated in space, and the coordinate of each magnetic nail 4 is obtained as MNi＝[mxi,myi]；
On the basis, initializing the positioning controller 7 and the incremental encoder 2 of the output shaft of the traction part of the logistics cabin, and then sampling the number of running turns of the logistics cabin by photoelectric pulses output by the incremental encoder 2;
combining yaw angle measurements measured by the yaw sensor 6;
compiling a real-time position resolving program of the logistics cabin body to obtain position components of the logistics cabin body along a horizontal axis and a vertical axis;
when the logistics cabin body runs to a certain magnetic nail 4, the magnetic induction signal is received to obtain the reference position of the logistics cabin body, the reference position is used as the real-time accurate position of the logistics cabin body, and then the logistics cabin body is continuously subjected to real-time updating of the position of the logistics cabin body under the measurement of the incremental encoder 2 and the yaw sensor 6.
Example 2
The embodiment of the invention provides a method for positioning an underground logistics cabin, which comprises the following steps:
by utilizing a proximity switch arranged on the logistics cabin body, the logistics cabin body responds to the magnetic nails sequentially arranged along the logistics cabin body operation track in the process of moving along with the logistics cabin body;
acquiring position increment of the logistics cabin body by utilizing an incremental encoder arranged on the logistics cabin body;
detecting the yaw angle of the logistics cabin body in operation by using a yaw sensor arranged on the logistics cabin body;
and the position coordinates obtained by the proximity switch from the magnetic nails are used as the initial value of the position of the logistics cabin body by using the positioning controller, the position component of the logistics cabin body on the operation track along the horizontal axis and the longitudinal axis is calculated by using the position increment and the yaw angle during the operation process of the logistics cabin body, the position of the logistics cabin body is updated in real time, and the positioning of the underground logistics cabin body is completed.
In a specific implementation manner of the embodiment of the invention, each magnetic nail is installed at the operation track of the logistics cabin body at intervals of a fixed distance L in an array form, and the array magnetic nail is formed and is denoted as MNs ═ MN1,MN2,…,MNl]The coordinate of each magnetic nail obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]。
In a specific implementation manner of the embodiment of the present invention, between the fixed distances L of the logistics cabin travel tracks, the position component of the vehicle body of the logistics cabin along the horizontal axis at each time on the travel tracks is represented as:
Figure BDA0002423051910000071
between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the longitudinal axis at each moment in the operation tracks is expressed as:
Figure BDA0002423051910000072
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]And the number of wheel rotations, measured at each moment by the incremental encoder, of the logistics cabin between the fixed distances L for the logistics cabin to run is represented, and r is the radius of the wheels of the logistics cabin.
In a specific implementation of the embodiment of the invention, the magnetic nail coordinates MNiThe initial value of the position of the body of the logistics cabin is calculated by the following formula:
the real-time abscissa of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000081
the real-time longitudinal coordinate of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure BDA0002423051910000082
wherein θ ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]The number of the wheel rotations corresponding to the logistics cabin measured at each moment by the incremental encoder between the fixed distances L of the logistics cabin in operation is shown, r is the radius of the wheels of the logistics cabin, and [ mx ]i,myi]Is a magnetic nail MNiThe coordinates of (a).
In a specific implementation manner of the embodiment of the present invention, because the incremental encoder is used to detect the position of the car body of the logistics cabin, which has accumulated errors during long-term operation, the present invention uses a positioning reference response composed of proximity switches and array magnetic nails to correct the long-term accumulated position of the incremental encoder, which specifically includes the following steps:
when the logistics cabin body operates at a fixed distanceAfter the distance L, the difference | lx between the real-time abscissa of the car body of the logistics cabin and the abscissa of the magnetic naili-mxiAnd the difference | ly between the real-time ordinate of the car body in the logistics cabin and the ordinate of the magnetic naili-myiIf all is less than the error threshold epsilon, judging that the logistics cabin body has no accumulated error after a long time; on the contrary, when the difference | lx between the real-time abscissa of the body of the logistics cabin and the abscissa of the magnetic naili-mxiIf is larger than the error threshold value epsilon, the difference | ly between the real-time longitudinal coordinate of the logistics cabin body and the longitudinal coordinate of the magnetic naili-myiIf the | is larger than the error threshold epsilon, judging that the logistics cabin body has accumulated errors after a long time, correcting the coordinates of the logistics cabin body, and using the abscissa and the ordinate of the magnetic nail as the initial abscissa and the initial ordinate of the logistics cabin body by the positioning controller.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (9)

1. The utility model provides an underground logistics cabin body positioner which characterized in that includes:
the magnetic nails are sequentially installed along the operation track of the logistics cabin body;
the proximity switch responds to each magnetic nail in the process of moving along with the logistics cabin body;
the incremental encoder is used for acquiring the position increment of the logistics cabin body;
the yaw sensor is used for acquiring the yaw angle of the logistics cabin body;
the positioning controller is respectively connected with the incremental encoder, the yaw sensor and the proximity switch;
the positioning controller takes the position coordinates obtained by the proximity switch from the magnetic nail as the initial value of the position of the logistics cabin body, calculates the position components of the logistics cabin body along the horizontal axis and the longitudinal axis of the operation track by utilizing the position increment and the yaw angle degree in the operation process of the logistics cabin body, updates the position of the logistics cabin body in real time and completes the positioning of the underground logistics cabin body.
2. The positioning device for the underground logistics cabin of claim 1, wherein: the magnetic nails are arranged at the position of the operation track of the logistics cabin body at intervals of a fixed distance L in an array form, and the formed array magnetic nails are expressed as MNs (MN)1,MN2,…,MNl]The coordinate of each magnetic nail obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]。
3. The positioning device for the underground logistics cabin of claim 2, wherein: between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the horizontal axis at each moment on the operation tracks is expressed as:
Figure FDA0002423051900000011
between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the longitudinal axis at each moment in the operation tracks is expressed as:
Figure FDA0002423051900000012
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]And the number of wheel rotations, measured at each moment by the incremental encoder, of the logistics cabin between the fixed distances L for the logistics cabin to run is represented, and r is the radius of the wheels of the logistics cabin.
4. The positioning device for the underground logistics cabin of claim 1, wherein: with magnetic nail coordinates MNiThe initial value of the position of the body of the logistics cabin is calculated by the following formula:
the real-time abscissa of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure FDA0002423051900000013
the real-time longitudinal coordinate of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure FDA0002423051900000014
wherein θ ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]The number of the wheel rotations corresponding to the logistics cabin measured at each moment by the incremental encoder between the fixed distances L of the logistics cabin in operation is shown, r is the radius of the wheels of the logistics cabin, and [ mx ]i,myi]Is a magnetic nail MNiThe coordinates of (a).
5. A method for positioning an underground logistics cabin is characterized by comprising the following steps:
by utilizing a proximity switch arranged on the logistics cabin body, the logistics cabin body responds to the magnetic nails sequentially arranged along the logistics cabin body operation track in the process of moving along with the logistics cabin body;
acquiring position increment of the logistics cabin body by utilizing an incremental encoder arranged on the logistics cabin body;
acquiring a yaw angle of the logistics cabin body by using a yaw sensor arranged on the logistics cabin body;
and the position coordinates obtained by the proximity switch from the magnetic nails are used as the initial value of the position of the logistics cabin body by using the positioning controller, the position component of the logistics cabin body on the operation track along the horizontal axis and the longitudinal axis is calculated by using the position increment and the yaw angle during the operation process of the logistics cabin body, the position of the logistics cabin body is updated in real time, and the positioning of the underground logistics cabin body is completed.
6. The method for positioning the underground logistics cabin according to claim 5, wherein the method comprises the following steps: each magnetic nail is arranged at the position of the operation track of the logistics cabin body at intervals of fixed distance L in an array form, and the formed array magnetic nail is expressed as MNs (MN)1,MN2,…,MNl]The coordinate of each magnetic nail obtained by manual accurate measurement and calibration is MNi＝[mxi,myi]。
7. The method for positioning the underground logistics cabin according to claim 6, wherein the method comprises the following steps: between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the horizontal axis at each moment on the operation tracks is expressed as:
Figure FDA0002423051900000021
between the fixed distances L of the logistics cabin operation tracks, the position component of the logistics cabin body along the longitudinal axis at each moment in the operation tracks is expressed as:
Figure FDA0002423051900000022
wherein θ is ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]And the number of wheel rotations, measured at each moment by the incremental encoder, of the logistics cabin between the fixed distances L for the logistics cabin to run is represented, and r is the radius of the wheels of the logistics cabin.
8. According to claim 5The method for positioning the underground logistics cabin is characterized by comprising the following steps: with magnetic nail coordinates MNiThe initial value of the position of the body of the logistics cabin is calculated by the following formula:
the real-time abscissa of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure FDA0002423051900000031
the real-time longitudinal coordinate of the logistics cabin body between the logistics cabin body operation fixed distances L is as follows:
Figure FDA0002423051900000032
wherein θ ═ θ1,θ2,…,θm]The angle between each moment of the yaw sensor and the transverse axis is measured between the logistics cabin body and the fixed running distance L; s ═ s1,s2,…,sm]The number of the wheel rotations corresponding to the logistics cabin measured at each moment by the incremental encoder between the fixed distances L of the logistics cabin in operation is shown, r is the radius of the wheels of the logistics cabin, and [ mx ]i,myi]Is a magnetic nail MNiThe coordinates of (a).
9. The method of claim 8, further comprising: after the logistics cabin body runs for a fixed distance L, if the difference | lx between the real-time abscissa of the logistics cabin body and the abscissa of the magnetic nail isi-mxiAnd the difference | ly between the real-time ordinate of the car body in the logistics cabin and the ordinate of the magnetic naili-myiIf all is less than the error threshold epsilon, judging that the logistics cabin body has no accumulated error after a long time; on the contrary, when the difference | lx between the real-time abscissa of the body of the logistics cabin and the abscissa of the magnetic naili-mxiIf is larger than the error threshold value epsilon, the difference | ly between the real-time longitudinal coordinate of the logistics cabin body and the longitudinal coordinate of the magnetic naili-myiIf | is greater than the error threshold value epsilon, judging that the logistics cabin body is the car bodyAfter long-term accumulated errors occur, the coordinates of the logistics cabin body need to be corrected, and the abscissa and the ordinate of the magnetic nail are used as the initial abscissa and the initial ordinate of the logistics cabin body by the positioning controller.
CN202010211725.0A 2020-03-24 2020-03-24 Underground logistics cabin positioning device and method Withdrawn CN111367293A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113534793A (en) * 2021-06-23 2021-10-22 中煤科工开采研究院有限公司 Automatic driving magnetic tracing positioning method for underground coal mine
CN116793199A (en) * 2023-08-24 2023-09-22 四川普鑫物流自动化设备工程有限公司 Centralized multi-layer goods shelf four-way vehicle positioning system and method

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113534793A (en) * 2021-06-23 2021-10-22 中煤科工开采研究院有限公司 Automatic driving magnetic tracing positioning method for underground coal mine
CN113534793B (en) * 2021-06-23 2024-06-18 中煤科工开采研究院有限公司 Automatic driving magnetic tracking positioning method for underground coal mine
CN116793199A (en) * 2023-08-24 2023-09-22 四川普鑫物流自动化设备工程有限公司 Centralized multi-layer goods shelf four-way vehicle positioning system and method
CN116793199B (en) * 2023-08-24 2023-11-24 四川普鑫物流自动化设备工程有限公司 Centralized multi-layer goods shelf four-way vehicle positioning system and method

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