High-precision magnetic positioning line patrol method

Abstract

The invention relates to a high-precision magnetic positioning line patrol method, which belongs to the technical field of intelligent logistics. According to the method, with the help of the intelligent trolley and the arrangement of the abduction metal embedded part and the cross-shaped metal embedded part, accurate positioning is controlled by the central control unit in the intelligent trolley according to steps, and the method has high real-time processing capacity, is suitable for various working conditions and environments, and is economical in cost, high in positioning accuracy, stable and reliable.

Description

technical field [0001] The invention relates to a positioning method, in particular to a high-precision magnetic positioning line inspection method, which belongs to the technical field of intelligent logistics. Background technique [0002] At present, intelligent logistics transfer vehicles such as AGV (often referred to as transfer robots) are widely used in many fields. The technical means that can be used for the precise positioning of the transfer during the driving process of the transfer vehicle include Beidou or GPS positioning and image recognition of the target position or path. . However, the positioning accuracy of the former is not high, and it is easily disturbed by external factors; although the latter can guarantee the accuracy, it needs to be equipped with a CCD camera, etc., and the investment and maintenance costs are high. [0003] It can be seen from the search that the Chinese patent application number 201710570468.8 discloses a positioning method bas...

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Problems solved by technology

[0004] Practice has shown that the application of this technical solution to the intelligent control of agricultural machinery in the field has the following disadvantages: 1) Due to the use of Hall sensors, large-scale sensor data collection and numerical simulation and curve fitting are required for areas with magnets, which is difficult Guarantee the real-time performance of the calculation; 2) The fitted magnetic field curve is easily affected by complex terrain or magnetic field interference, resulting in poor generalization ability or large deviation from the actual working conditions; 3) It is stuck in the local optimal solution and cannot jump out of the local minimum value of the magnetic field, 4) The assembly cost of large-area Hall elements is high, and the damage cannot be easily judged. It is necessary to disassemble and maintain the entire Hall sensor mounting plate, and the maintenance cost is high.

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