Navigation error correction method based on magnetic nail location

Abstract

The invention discloses a navigation error correction method based on magnetic nail location. The method comprises the following steps: (a) arranging magnetic nails in an area where AGV travels across, establishing a magnetic field model containing location information according to a magnetic field formed by the magnetic nails, and storing the magnetic field model in a navigation device of AGV; (b) guiding the AGV to move by virtue of the navigation device in the AGV; (c) detecting the characteristics of a magnetic field generated by the magnetic nails on a traveling track of the AGV by virtue of a magnetic sensor on the AGV; (d) comparing the characteristics of the magnetic field detected by the magnetic sensor with a stored magnetic field model in the navigation device, and calculating a relative location relationship between the magnetic nails and AGV; (e) calculating a current location of the AGV according to the relative location relationship between the magnetic nails and AGV; and (f) adjusting, by the navigation device, the pose of the AGV according to the location of the AGV, and guiding the AGV to correct the traveling deviation. Compared with the prior art, the navigation error correction method has advantages of accuracy in positioning, high environmental adaptability and low equipment cost.

Description

technical field [0001] The invention belongs to the field of AGV navigation methods, in particular to a navigation error correction method based on magnetic nail positioning. Background technique [0002] The existing AGV navigation methods generally set a set of pose sequences that the AGV needs to execute according to the trajectory that the AGV needs to run, and then the AGV runs according to the pose sequence to complete the predetermined trajectory. [0003] The navigation devices used in some AGVs in the prior art calculate the pose of the object by performing preset calculations on the measured data. As the AGV continues to advance, measurement errors will continue to accumulate, and the AGV will gradually deviate from the predetermined trajectory. Therefore, technicians need to match this kind of AGV navigation method with a way to correct the pose. The positioning error correction method is an auxiliary correction method commonly used in the prior art. The common po...

AI Technical Summary

Problems solved by technology

Therefore, technicians need to match this kind of AGV navigation method with a way to correct the pose. The positioning error correction method is an auxiliary correction method commonly used in the prior art. The common positioning error correction methods include ultrasonic positioning error correction method, laser positioning error correction method, etc. Correction methods and image positioning error correction methods, but these positioning error correction methods have high requirements on the application equipment and the use environment, not only poor convenience, but also high application cost, easy to be interfered, resulting in low positioning accuracy and poor stability of the device

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