Automatic guided vehicle based on magnetic-nail map navigation

Abstract

The invention relates to an automatic guided vehicle based on magnetic-nail map navigation. The automatic guided vehicle is composed of a vehicle-mounted sensor, an actuator, and a controller. The vehicle-mounted sensor consists of a magnetic ruler, an inertial navigation module, a speedometer, and an RFID reader. The actuator includes a steering system, a braking system and a power system. The guided vehicle is driven on a lane with a magnetic nail; the coordinate of the magnetic nail on the road is known and is stored into the controller; the controller uses the magnetic ruler to measure relative positions of the magnetic nail and the vehicle body on the lane, thereby realizing high-precision positioning of the vehicle. With the inertial navigation module and the speedometer, data fusion is carried out by combining the magnetic nail coordinate information; the controller can calculate an absolute position of the vehicle precisely and continuously; and the actuator is used for realizing high-precision positioning and autonomous driving. According to the invention, the automatic guided vehicle is suitable for various automatic workshops and logistics warehouses. With the vehicle, the manpower can be reduced effectively; and the workshop operation efficiency is improved. The automatic guided vehicle has advantages of high positioning accuracy, excellent control performance, low cost, high reliability, and low maintenance cost.

Description

technical field [0001] The invention relates to the technical field of unmanned driving, in particular to an automatic guided vehicle based on magnetic nail map navigation. Background technique [0002] In recent years, unmanned driving technology has developed rapidly. The development of various sensor technologies such as GPS, radar, lidar, and camera provides many ways for unmanned vehicles to perceive the environment. Various electronically controlled actuators (such as power steering systems, EPS systems, etc.) have already been widely used in automobiles. These electronically controlled actuators provide strong support for future unmanned vehicles to replace human driving. Due to the complexity of the actual driving environment and the perfection of traffic regulations, unmanned vehicles in the true sense cannot be applied and popularized in the short term. However, unmanned vehicle technology can first be applied to local traffic scenarios with simple environments. ...

AI Technical Summary

Problems solved by technology

[0005] However, the magnetic navigation method based on the curvature map has certain limitations. Although this method optimizes the efficiency of map construction, it reduces the accuracy of the map, and it is only suitable for driving on a single track, and the application scenario is simple.

The curvature map cannot express the magnetic nail relationship between multiple lanes, so actions such as changing vehicles and changing lanes cannot be completed

And the navigation without absolute positioning is not conducive to visualization, nor is it conducive to the unified scheduling and management of multi-vehicle systems

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