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AGV magnetic tracing offset calculation method, storage medium and AGV

A technology of offset calculation and calculation method, applied in non-electric variable control, instrument, two-dimensional position/channel control, etc., can solve the problem of large tracking error of AGV

Pending Publication Date: 2022-03-01
GUANGDONG JATEN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the existing AGV tracking error is relatively large, and to provide an AGV magnetic tracking offset calculation method, a storage medium, and an AGV that improve the accuracy of the AGV tracking error.

Method used

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  • AGV magnetic tracing offset calculation method, storage medium and AGV
  • AGV magnetic tracing offset calculation method, storage medium and AGV
  • AGV magnetic tracing offset calculation method, storage medium and AGV

Examples

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Embodiment 1

[0027] see Figure 1 to Figure 5 , the AGV magnetic tracking offset calculation method of the present invention, the AGV involved includes a car body, a control module and a magnetic tracking sensor, and the magnetic tracking sensor is provided with several magnetic induction probes in parallel, and the distance between adjacent magnetic induction probes is D, the distance from the ground of the magnetic tracking sensor is H, the detection width of the magnetic sensor probe to the ground is W, and the width of the magnetic strip is M, where W≥D, in this embodiment, the distance between adjacent magnetic sensor probes Set to D=20mm, the distance from the ground of the magnetic tracking sensor is set to H=40mm, the detection width of the magnetic sensor probe to the ground is set to W=20mm, and the width of the magnetic strip is set to M=30; the calculation method includes the following step:

[0028] a. Slowly move the magnetic strip from one side of the detection range of the...

Embodiment 2

[0050] The main purpose of this embodiment is to provide a storage medium that applies the method for calculating the AGV magnetic tracking offset in Embodiment 1. The storage medium stores a computer program, and the computer program is configured to implement the AGV magnetic tracking offset when called by the processor. Calculation method of tracking offset.

[0051] Compared with the prior art, the storage medium of the present invention detects the curve change relationship between the width X of the magnetic strip and the magnetic flux Y of the magnetic sensor probe through the introduction of the magnetic sensor probe, and the magnetic sensor probe that is triggered on the outermost side of the driving AGV Through the detection of the magnetic flux, the width of the magnetic sensor probe occupied by the magnetic strip can be obtained, so as to calculate the position offset of the AGV car body when driving along the magnetic strip. By adjusting the position offset, the AG...

Embodiment 3

[0053] The main purpose of this embodiment is to provide an AGV that applies the AGV magnetic tracking offset calculation method of Embodiment 1, including a car body, a processor and a memory arranged on the car body, the processor and the The memories communicate with each other, and the memories are used to store executable instructions, so that the processor implements the AGV magnetic tracking offset calculation method when executing the instructions.

[0054] Compared with the prior art, the AGV of the present invention detects the relationship between the width X of the magnetic strip and the magnetic flux Y of the magnetic sensor probe through the introduction of the magnetic sensor probe. The magnetic flux is detected to obtain the width of the magnetic sensor probe occupied by the magnetic strip, so as to calculate the position offset of the AGV car body when driving along the magnetic strip. By adjusting the position offset, the AGV can be prevented from derailing. ...

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Abstract

According to the AGV magnetic tracing offset calculation method, the storage medium and the AGV, the magnetic flux of the triggered magnetic induction probe on the outermost side of the driving AGV is detected by introducing the curve change relation between the width X of the magnetic strip detected by the magnetic induction probe and the magnetic flux Y of the magnetic induction probe; according to the method, the width of the magnetic induction probe occupied by the magnetic strip is obtained through the magnetic induction probe, the position offset of the AGV body running along the magnetic strip is calculated, the AGV can be prevented from derailing by adjusting the position offset, and due to the fact that the width precision of the detection range of the magnetic induction probe is 1 mm, the tracing precision of the AGV can be improved to 1 mm. And accurate operation control can be realized.

Description

technical field [0001] The invention belongs to the technical field of automatic guided vehicles, and in particular relates to an AGV magnetic tracking offset calculation method, a storage medium and the AGV. Background technique [0002] With the development of industrial automation, AGV is more and more widely used in various fields, and the application scenarios of AGV are becoming more and more complex, and the requirements for tracking accuracy of AGV are also getting higher and higher. At present, the error of AGV tracking can reach 1cm, and there may be scratches and accidental collisions when running in some relatively narrow areas. Derailment will also occur when driving on a ring-shaped magnetic strip track with a smaller radius. Contents of the invention [0003] The purpose of the present invention is to overcome the problem of large error in existing AGV tracking, and to provide an AGV magnetic tracking offset calculation method, a storage medium and an AGV t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0276
Inventor 廖博轩
Owner GUANGDONG JATEN ROBOT & AUTOMATION
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