Robot navigation method based on three electromagnetic sensors

Abstract

The invention discloses a robot navigation method based on three electromagnetic sensors. The method aims to overcome defects such as low precision, a plenty of parameters and complex design in bisymmetric electromagnetic sensor navigation. The robot navigation method disclosed by the invention comprises the following steps: taking difference of a value and a maximum value of a middle sensor as the size of a robot to deviate from a track, and judging the direction of the robot which deviates from an electromagnetic track according to the plus or minus of a difference value of a left sensor and a right sensor and the difference of an electromagnetic track deviating direction threshold value, synthesizing the track deviating size and the track deviating direction as an error signal of a robot mobile controller to control the robot to move in an error reducing direction, thereby realizing electromagnetic navigation of the robot. The method simplifies the parameters design and measurement such as a boundary threshold value, reduces the probability of introducing random errors, avoids influences due to asymmetry of sensor performances, and improves the precision of the robot electromagnetic navigation.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a robot navigation method, which uses three electromagnetic sensors to detect the size and direction of a robot's deviation from an electromagnetic track, and guides the robot to move along the electromagnetic track. Background technique [0002] At present, most of the electromagnetic track detection devices used in robots are an even number of "I"-shaped inductors, which are horizontally and symmetrically distributed on both sides above the track, and the difference in magnetic field strength detected by the symmetrically positioned electromagnetic sensors is used to determine the size of the deviation from the track. . In an ideal state, the parameters of the left and right symmetrical position sensors are strictly the same. At this time, the difference between the sensor’s detected magnetic field strength and the position is as follows: figure 1 shown. The bold black curve can represent...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of low precision, many parameters and complicated design in navigation using double symmetrical electromagnetic sensors, the present invention proposes a robot navigation method based on three electromagnetic sensors, which no longer uses the difference of magnetic field strength at symmetrical positions to represent the relative position of the robot. The position of the electromagnetic track, but the use of the magnetic field strength and the position curve's strict axisymmetric characteristics to represent the position of the robot relative to the electromagnetic track, simplifies the number of boundary threshold parameters, parameter design methods and the calibration process of the center position, and improves the electromagnetic navigation accuracy of the robot

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