Guided vehicle navigation method based on magnetic nails and scheduling system

Abstract

The invention provides a guided vehicle navigation method based on magnetic nails. The guided vehicle navigation method comprises the following steps of A, laying a magnetic nail array on a field where a guided vehicle runs; b, mounting the magnetic sensor array on the guided vehicle; c, obtaining the first pose information of the guided vehicle at the current moment through the linear speed and the angular speed, measured by an odometer, of the guided vehicle; d, when the detected magnetic field intensity is greater than a preset threshold value, entering a step F; otherwise, entering a step E; e, performing navigation according to the current first pose information of the guided vehicle obtained in the step C; f, obtaining the relative state information of the magnetic nail closest to the guided vehicle according to an error function; g, calculating the second pose information of the guided vehicle at the current moment; and H, carrying out weighted fusion on the first pose information obtained in the step C and the second pose information obtained in the step G by adopting an optimal weighting factor, and carrying out navigation according to the fused final pose information. According to the present invention, the accurate positioning and navigation is realized, the cost is low, and the maintenance is easy.

Description

technical field [0001] The invention relates to a navigation method and dispatching system for a guided vehicle based on magnetic nails. Background technique [0002] With the rapid development and rise of my country's e-commerce industry, the requirements for logistics sorting, distribution, and transportation are getting higher and higher. In order to pursue high efficiency, automatic guided vehicles (AGVs) have become important equipment for intelligent manufacturing, intelligent logistics and digital factories, and play an important role in facilitating the transportation of factory goods and improving production efficiency. Therefore, it is particularly important to find a navigation technology with high precision and good robustness. [0003] At present, there are many ways to study the use of magnetic nail navigation. For example, Chinese patent document CN111208816A discloses a driving system based on magnetic nail navigation, which applies magnetic nail navigation ...

AI Technical Summary

Problems solved by technology

The disadvantage of these methods is that only magnetic nails are used to assist navigation, and a large number of other sensors are used, and the positioning accuracy is relatively low.

Images