A high-precision automatic guided vehicle positioning and orientation device and method based on a single magnetic nail

Abstract

The invention relates to a single magnetic nail-based high-precision automatic guided vehicle positioning and orienting device and method. An asymmetrical magnetic field is generated through a magnetic nail; and the magnetic field intensities of the magnetic field which are measured by a magnetic sensor array are different, so that the positioning and orienting processing of an automatic guided vehicle can be realized on the basis of the single magnetic nail. Since the magnetic sensor array is arranged in a two-dimensional form, the anti-jamming capability of a system can be improved, and thepositioning range of the magnetic nail can be increased at the same time, and therefore, when magnetic sensors are laid, the number of the magnetic sensors can be small, and intervals among the magnetic sensors are large, in other words, high-precision position and direction information of the guided vehicle can be obtained with the single-magnetic nail mode adopted under a condition that few magnetic sensors with large intervals are adopted, and the accuracy of the method is superior to that of a conventional magnetic nail navigation method.

Description

technical field [0001] The invention belongs to the field of automatic control, and in particular relates to a high-precision automatic guided vehicle positioning and orientation device and method based on a single magnetic nail. Background technique [0002] At present, the automatic guided vehicle AGV has become an important equipment in intelligent manufacturing, intelligent logistics and digital factories, and plays an important role in facilitating the transportation of goods in factories and improving production efficiency. Automatic guidance, that is, to move along the specified track. At present, the common navigation methods include: photoelectric navigation, magnetic tape navigation, magnetic nail navigation, visual navigation and laser navigation, etc. [0003] Photoelectric navigation, with black and white tape is simple and cheap, but the tape is easily affected by dust and garbage, and the route is fixed; visual two-dimensional code navigation, the route is fle...

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Problems solved by technology

In addition, the traditional method cannot distinguish the direction of the magnetic nail. In order to obtain the direction information of the AGV, the general method is to use the method of laying two magnetic nails in parallel.

[0005] Therefore, the existing AGV navigation devices based on magnetic nails have the following disadvantages: 1. A large number of magnetic sensors 1 are required, and the positioning accuracy is low, about ±5mm; The position of the two magnetic nails, and then obtain the direction information of the AGV, the accuracy is low and the complexity of the navigation device and the laying density of the magnetic nails are increased

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