Multi-node navigation system based on electromagnetic navigation

A navigation system and electromagnetic navigation technology, applied in the field of navigation systems, can solve the problems of difficult to change or expand the path, difficult to determine the location of breakpoints, difficult to maintain lines, etc., to achieve strong line error correction ability, save time, and improve operating efficiency. Effect

CN105739508AInactive Publication Date: 2016-07-06HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-07-06
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a multi-node navigation system based on electromagnetic navigation. The invention provides the navigation system which is stable in tracking, high in flexibility and high in operation efficiency. The system comprises an automatic navigation trolley, a plurality of electromagnetic sensors, a plurality of node converters and a controller, wherein the plurality of node converters are arranged on corresponding coordinate positions in a navigation coordinate system respectively; any adjacent two node converters are connected through a lead wire; alternating current is introduced between the lead wires; the plurality of electromagnetic sensors are mounted on the automatic navigation trolley and are used for collecting magnetic field information generated by the alternating current at the peripheries of the lead wires; the controller is used for planning a path and alternatively communicating the lead wires between the node converters on the corresponding coordinate positions of a path according the planned path; the automatic navigation trolley is used for controlling an operation posture according to the magnetic field information collected by the electromagnetic sensors and is operated along the lead wires so as to finish the planned path.
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Description

technical field

[0001] The invention relates to a navigation system, in particular to a multi-node navigation system based on electromagnetic navigation. Background technique

[0002] Electromagnetic navigation is one of the more traditional navigation methods, and it is still used by many systems. It is to bury metal wires on the driving path of AGV (Automated Guided Vehicle), generate alternating current through an oscillating circuit, and load the metal wires. The guiding frequency realizes the navigation of the AGV through the identification of the magnetic field of the wire. The guide wire is concealed, not easy to be polluted and damaged, the guiding principle is simple and reliable, it is convenient to control communication, no interference to sound and light, and the investment cost is low.

[0003] There are many shortcomings based on electromagnetic navigation. The navigation path is single, and it is difficult to change or expand the path. If the electromagnetic ...

Examples

Embodiment Construction

[0044] The multi-node navigation system based on electromagnetic navigation in this embodiment includes an automatic navigation car, a plurality of electromagnetic sensors, a plurality of node switches and a controller;

[0045] In this embodiment, the indoor ground is coordinateized, such as figure 1 In the navigation coordinate system shown, there are 9 coordinate points in the plane, and each coordinate point corresponds to a point in the plane, and any two points can be connected by wires through the grid.

[0046] An alternating current is passed through the wire, and multiple electromagnetic sensors are installed in the body of the automatic navigation car. The electromagnetic sensor can collect the magnetic field information generated by the alternating current around the wire. The induced electromotive force on the electromagnetic sensor is related to the distance between the sensor and the wire. , according to Bioshafal's law, the distance from the sensor to the cente...