AGV course positioning navigation method based on magnetic nail magnetic field intensity correction

A magnetic field strength, positioning and navigation technology, applied in two-dimensional position/course control, vehicle position/route/altitude control, instruments, etc., can solve the problems of positioning error and increase the difficulty of control development, and achieve the correction of accumulated errors and realize Adjustability, efficiency-enhancing effect

Pending Publication Date: 2022-05-27
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

For the magnetic nail navigation application currently on the market, the magnetic scale sensor can already detect the magnetic field strength when it is close to the magnetic nail. At this time, the center of the magnetic scale sensor doe

Method used

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  • AGV course positioning navigation method based on magnetic nail magnetic field intensity correction
  • AGV course positioning navigation method based on magnetic nail magnetic field intensity correction
  • AGV course positioning navigation method based on magnetic nail magnetic field intensity correction

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Example Embodiment

[0031] In the present embodiment: a magnetic nail magnetic field strength correction of AGV heading navigation method, is applied to the AGV in accordance with the planned path navigation of the working scene, in the planning path according to a certain spacing of the magnetic nail arrangement, there must be no other strong magnetic objects around, there must be no obstacles on the moving path; AGV using two-wheel differential drive, assuming that there is a virtual front wheel at the front position of the middle vertical line of the two differential wheels, and the front of the AGV is provided with a magnetic ruler sensor ( Its distance from the ground shall not be higher than 50mm), the mounting plate shall use non-magnetic materials, and the background magnetic field strength shall not be higher than 1 gauss; there is an inertial measurement unit at the internal level of the AGV, and the following points should be noted when installing the inertial sensor:

[0032] First of all...

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Abstract

The invention discloses an AGV course positioning navigation method based on magnetic nail magnetic field intensity correction, which comprises the following steps: arranging magnetic nails at certain intervals according to path planning, arranging a magnetoscale sensor in front of an AGV head, and horizontally laying an inertial measurement unit in the AGV; dividing the magnetic field intensity scanned by the magnetic sensor into areas along the longitudinal direction and the transverse direction of the vehicle body, and calibrating magnetic field intensity grades; and finally, an inertial sensor is used between the magnetic nails to measure the angular velocity and the velocity of the vehicle so as to predict the pose and realize vehicle control. According to the invention, inertial navigation control and magnetic nail navigation based on magnetic field intensity are integrated, so that high-precision positioning control is realized.

Description

Technical field [0001] The present invention belongs to the field of automatic guided vehicle positioning and navigation, specifically when using magnetic nails to perform posture correction on the automatic guided vehicle, by analyzing the magnetic field strength of the magnetic nails to obtain higher positioning accuracy. Background [0002] With the advancement of science and technology, physical manufacturing plants are gradually turning to intelligent, unmanned, automatic guided vehicles (AGV) as an intelligent industrial equipment, is widely used in various industries. Navigation and positioning technology is the basis of AGV's autonomous movement, at present, the main methods of mobile robot navigation are magnetic navigation, optical navigation, laser navigation and inertial navigation. For the current market of magnetic nail navigation applications, the magnetic field sensor in close proximity to the magnetic nail has been able to detect the magnetic field strength, at t...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0259G05D2201/02Y02T10/72
Inventor 肖献强韩晨
Owner HEFEI UNIV OF TECH
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