| 摘要 |
The present invention provides a magnetic sensor measuring the position of a magnetic body by measuring the magnetic body and a method for measuring a relative position of a current environment of a mobile robot. The magnetic sensor includes: a magnetic position measuring sensor module; an encoder; a gyro module, and a control module for control using information, to estimate/correct the position of a mobile robot. The magnetic position measuring sensor module uses an analog magnetic hall sensor. The magnetic body is influenced by an earth magnetic field which is an outer magnetic force, a motor in a surrounding environment, and an object having the magnetic force. An accurate magnetic body is determined by learning the magnetic force of the magnetic body showing the position in a current environment through a neural network within a given situation. The position and an angle are calculated and corrected based on the determined magnetic body, and the position is measured using the encoder and the gyro between the magnetic bodies. As a linear velocity of the encoder and an angular speed of the gyro are applied to a mechanism theory, the position and the angle are estimated, and the position is corrected. |
