Method for setting up a magnetic navigation agv project

Abstract

The application provides a setting method of a magnetic navigation AGV project, establishes a standard magnetic field model, acquires magnetic field data of an application site, compares the standard magnetic field model with the magnetic field data of the application site, judges that the magnetic navigation AGV project can be set if there is no part not conforming to the standard magnetic field model, compares a change model of the standard magnetic field model with the magnetic field data of the application site if there is a part not conforming to the standard magnetic field model, judges that the magnetic navigation AGV project can be set if there is a part not conforming to the change model of the standard magnetic field model, and judges that the magnetic navigation AGV project cannot be set if there is no part not conforming to the change model of the standard magnetic field model. The setting method of the magnetic navigation AGV project can quickly judge whether the application site is suitable for setting the magnetic navigation AGV project by comparing the standard magnetic field model with the magnetic field data of the application site.

Description

Technical Field

[0001] This invention relates to the field of AGV operation auxiliary equipment, and in particular to a method for setting up a magnetic navigation AGV project. Background Technology

[0002] Magnetic navigation AGVs are AGV devices that move along the tracks of magnetic materials (magnetic strips, magnetic nails, which are magnetic) laid on the ground. Since the magnetic field of the external environment will affect the stable operation of the magnetic navigation AGV along the track of the magnetic material, it is necessary to detect and evaluate the magnetic field distribution and magnetic field strength around the application scene before laying the magnetic material to determine whether the AGV navigation solution that is sensitive to magnetic fields can be used in the scene.

[0003] The existing method for setting up magnetic navigation AGV projects is as follows: First, a preliminary route is set up based on multiple target locations in the application site, and magnetic guide objects are laid. Then, a handheld magnetic field measuring device is used to measure the magnetic field strength and magnetic pole direction of the area where the preliminary route is located. The preliminary route is adjusted to obtain a modified route. Then, the AGV is allowed to run on the modified route. By detecting the deviation of the AGV's movement trajectory, the route is optimized. At the same time, the AGV is adjusted to improve the coordination between the AGV and the magnetic navigation route, thus obtaining the final magnetic navigation route. However, this method has the following drawbacks: If there is a strong external magnetic field in the application site area, it will affect the measurement results of the handheld magnetic field measuring device and the detection effect of the AGV on the magnetic guide objects. As a result, even after multiple modifications and adjustments, it is still impossible to obtain a magnetic navigation route that allows the magnetic navigation AGV to operate normally, which slows down the construction speed of the magnetic navigation AGV project and prevents normal production. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method for setting up a magnetic navigation AGV project. By comparing the magnetic field model with the magnetic field data of the application site, it is possible to quickly determine whether the application site is suitable for setting up a magnetic navigation AGV project, which facilitates the subsequent efficient completion of the laying of the magnetic navigation route.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The setup method for a magnetic navigation AGV project includes the following steps:

[0007] Use a magnetic field detection device to obtain magnetic field data of a standard site covered with magnetic materials, and establish a standard magnetic field model;

[0008] Use the same magnetic field detection device to obtain magnetic field data of the application site with the same magnetic permeable material;

[0009] Compare the magnetic field data of the standard magnetic field model and the application site;

[0010] If the magnetic field data of the application site does not contain any parts that do not conform to the standard magnetic field model, then it is determined that the application site can be used to set up a magnetic navigation AGV project.

[0011] If the magnetic field data of the application site contains parts that do not conform to the standard magnetic field model, then compare the variation model of the standard magnetic field model with the magnetic field data of the application site. If the magnetic field data of the application site contains parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site can be set up with a magnetic navigation AGV project. If the magnetic field data of the application site does not contain parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site cannot be set up with a magnetic navigation AGV project.

[0012] Compared with the prior art, the present invention provides a method for setting up a magnetic navigation AGV project. It is known that a magnetic navigation AGV can work normally as long as it can read magnetic objects in a normal magnetic field, and it is known that different regions have relatively fixed magnetic fields (geomagnetic fields). After applying a strong magnetic field to the corresponding region, the magnetic field of the corresponding region will change linearly. The present invention establishes a standard magnetic field model in advance and sets up its variation model (the model of the magnetic field after the original magnetic field changes linearly) based on the standard magnetic field model. After the magnetic objects are laid in the application site, the same magnetic field detection device is used to obtain the magnetic field data of the application site with the same magnetic objects. By comparing the magnetic field data of the application site with the standard magnetic field model and the variation model of the standard magnetic field model respectively: (1) if there is no difference between the two, it can be confirmed that the application site can be directly set up with a magnetic navigation AGV project; (2) if there is a partial difference between the two (the magnetic field data of the application site has a partial difference between the two), the magnetic field data of the application site can be compared with the standard magnetic field model and the variation model of the standard magnetic field model respectively. If the magnetic field data of the application site does not conform to the standard magnetic field model or the variation model of the standard magnetic field model, it can be confirmed that there is magnetic field interference in some areas of the application site. The magnetic navigation AGV project can be set up normally by adjusting the corresponding strategy in the area with magnetic field interference. (3) If there is a difference between the two (the magnetic field data of the application site conforms to the variation model of the standard magnetic field model), it can be quickly confirmed that there is magnetic field interference in the entire area of ​​the application site, and the magnetic navigation AGV project cannot be set up normally. Based on whether the magnetic field of the location of the magnetic object in the application site is different from the data in the standard magnetic field model (the magnetic field of the location of the magnetic object in the standard site), it can be quickly determined whether the magnetic object in the application site is in the normal magnetic field, so as to quickly determine whether the area of ​​the application site is suitable for setting up the navigation AGV project, improve the construction speed of the magnetic navigation AGV project, and simplify the adjustment steps of the magnetic navigation AGV project.

[0013] Preferably, comparing the magnetic field data of the standard magnetic field model and the application site includes the following steps:

[0014] The standard magnetic field model is entered into the central control system, and the reference value S is set according to the standard magnetic field model.

[0015] Set the first sample value C and the second sample value D, with the initial values ​​of the first sample value C and the second sample value D being 0;

[0016] Extract one data sample Ax from the magnetic field data of the application site. Data sample Ax contains nxm data, where n represents the n columns of data after the magnetic field detection heads on the magnetic field detection device are moved and arranged in the order of acquisition, and m represents the 0 to m rows of data after the n columns of data are arranged in the order of acquisition.

[0017] Locate the n x m data points within the data sample Ax, where the location number of the data is [j, i], where j represents the row number and i represents the column number;

[0018] Analyze the data in data sample Ax one by one in reverse order of the row number;

[0019] If [j,i] is less than S, it is necessary to determine whether [j-1,i] is greater than or equal to S. If so, the first sample value C is updated, C = C + 1, and the comparison continues to the next data. Otherwise, the first sample value C is not updated, and the comparison continues to the next data.

[0020] If [j,i] is greater than or equal to S, then it is necessary to determine whether [j-1,i] is less than S; if so, then update the second sample value D, D = D+1, and continue to compare the next data; otherwise, do not update the second sample value D, and continue to compare the next data.

[0021] If C+D=0, then it is determined that the data sample Ax is the same as the standard magnetic field model, the data sample Ax does not have any part that does not conform to the standard magnetic field model, and the area corresponding to the data sample Ax can be set up with a magnetic navigation AGV project.

[0022] If C+D≠0 and C+D<K, where K is the magnetic field anomaly reference value, then it is determined that the data sample Ax does not conform to either the standard magnetic field model or the variation model of the standard magnetic field model, and a magnetic navigation AGV project can be set up in the area corresponding to the data sample Ax.

[0023] If C+D>K, then it is determined that the data sample Ax contains a part of the variation model that conforms to the standard magnetic field model, the area corresponding to the data sample Ax belongs to the strong magnetic field interference area, and the magnetic navigation AGV project cannot be set up in the area corresponding to the data sample Ax.

[0024] All data samples Ax in the magnetic field data of the application site were analyzed one by one;

[0025] If a data sample Ax corresponds to an area where a magnetic navigation AGV project cannot be set up, then update the third sample value E, E = E + 1; otherwise, do not update the third sample value E.

[0026] After completing the analysis of all data samples Ax, if E≥F, where F is the reference value for outliers, then it is determined that the application site cannot be set up with a magnetic navigation AGV project; otherwise, it is determined that the application site can be set up with a magnetic navigation AGV project.

[0027] The method described above, which compares the magnetic field data of the standard magnetic field model and the application site, analyzes the data sample Ax in the magnetic field data of the application site based on the benchmark reference value S. This allows for a rapid determination of whether the data sample Ax in the magnetic field data of the application site is suitable for setting up a magnetic navigation AGV project. After analyzing all the data samples Ax of the application site, it can be determined whether the application site is suitable for setting up a magnetic navigation AGV project. This method is simple, fast, accurate, and reliable. In addition, this invention sets the analysis to [j,i] first, then [j-1,i], and then [j-2,i]. That is, it first analyzes the data in the same column (the data acquired simultaneously at a certain position by n magnetic field detection heads arranged in a straight line on the magnetic field detection device), thereby ensuring the validity of the analyzed data.

[0028] Preferably, when analyzing the data in the data sample Ax one by one in reverse order of the row number of the label; if there are two data with the same label i in the positioning label that trigger the first sample value C and the second sample value D to be updated respectively, then the data with the same label i in the positioning label will no longer be analyzed.

[0029] Two data points with the same label i are data points in the same column of data sample Ax. If the two data points in the same column trigger the update of the first sample value C and the second sample value D respectively, it means that the corresponding column of data in data sample Ax conforms to the variation model of the standard magnetic field model. It is known that multiple columns of data in data sample Ax within the strong magnetic field interference area conform to the variation model of the standard magnetic field model. In the above setting method, ignoring the analysis of the data columns that have been determined to conform to the variation model of the standard magnetic field model can effectively shorten the analysis time and improve the analysis efficiency.

[0030] In this invention, if C+D≠0 and C+D<K, the following three setting methods can be used to make the area corresponding to data sample Ax suitable for setting up a magnetic navigation AGV project.

[0031] The first method: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model, and the magnetic materials corresponding to the data points with values ​​greater than S are removed.

[0032] In the above setup, by removing magnetic objects corresponding to data points with values ​​greater than S, the AGV does not detect magnetic objects at data points with values ​​greater than S, thus avoiding the influence of the abnormal magnetic field.

[0033] The second approach: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to detect the magnetic material corresponding to the data point with a value greater than S.

[0034] In the above configuration, by setting the AGV not to detect magnetic objects corresponding to data points with values ​​greater than S, the AGV cannot detect magnetic objects at data points with values ​​greater than S, thus avoiding the influence of the abnormal magnetic field point.

[0035] The third approach: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to execute the instructions on the magnetic material corresponding to the data point with a value greater than S.

[0036] In the above configuration, by setting the AGV not to execute the instructions on the magnetic objects corresponding to data points with values ​​greater than S, the AGV will not execute the instructions stored on the magnetic objects even if it detects a magnetic object at a data point with a value greater than S, thus remaining unaffected by the abnormal magnetic field point.

[0037] Preferably, measuring the magnetic field data of a standard site covered with magnetic materials using a magnetic field detection device includes the following steps:

[0038] Lay magnetic materials in a standard site;

[0039] Use a magnetic field detection device to detect the magnetic field data of a standard site;

[0040] A standard magnetic field model is established based on the magnetic field data of a standard site.

[0041] Preferably, measuring the magnetic field data of the application site covered with magnetic materials using a magnetic field detection device includes the following steps:

[0042] Lay magnetic materials at the application site;

[0043] The magnetic field data of the application site is detected using the same magnetic field detection device as that used to detect the magnetic field data of the standard site.

[0044] Establish magnetic field data for the application site based on the magnetic field data of the application site.

[0045] By using the same magnetic field detection device as the standard site to detect the magnetic field data, the magnetic field data of the application site are obtained based on the same magnetic field detection device, thereby reducing data errors caused by different equipment, ensuring that the measurement direction and measurement distance of the two sets of magnetic field data are consistent, and ensuring that the data of the two are comparable.

[0046] Preferably, the magnetic field detection device used to detect magnetic field data includes a frame that can move relative to the ground. The frame is equipped with a control device and a magnetic field detection module. The magnetic field detection module is used to detect magnetic field data within the moving area of ​​the frame. The control device is communicatively connected to the magnetic field detection module.

[0047] The above-mentioned magnetic field detection device has the following beneficial effects:

[0048] (1) The magnetic field detection device of the present invention is designed in imitation of the structure of AGV. By adjusting the installation height of the magnetic field detection module to the same height above the ground as AGV, RGV and other equipment, and ensuring that the detection distance of the magnetic field detection module is consistent with the position of the magnetic field sensor of AGV and RGV, it can be directly placed on the application site to scan the magnetic field. This ensures that the magnetic field data detected at the same position and height is consistent with the magnetic field data detected by AGV and RGV, ensuring that the data is accurate and reliable. This eliminates the trouble of having to place the AGV on the magnetic navigation route multiple times to obtain the actual magnetic field strength in order to adjust the magnetic navigation route when setting up the magnetic navigation AGV project. It has the advantages of low cost, easy production and manufacturing, and strong versatility.

[0049] (2) Since the application site of the magnetic navigation AGV project is relatively large, the area to be detected is relatively large. However, the detection area of ​​the handheld magnetic field measuring device is small, resulting in a large workload for magnetic field detection. The magnetic field detection device mentioned above has a large scanning area, thereby reducing the workload of detection and enabling the rapid completion of magnetic field detection of the application site of the magnetic navigation AGV project, effectively improving the efficiency of setting up the magnetic navigation AGV project.

[0050] Preferably, the control device can set the detection magnetic field parameters, so that the control device can save the magnetic field data of the corresponding magnetic field strength and the corresponding magnetic pole direction.

[0051] By setting the detection magnetic field parameters of the magnetic field detection device, the device will only respond when it detects a magnetic field strength of the corresponding intensity and a magnetic pole direction of the corresponding direction, thereby eliminating interference. Attached Figure Description

[0052] Figure 1 This is a first-angle schematic diagram of the magnetic field detection device of the present invention;

[0053] Figure 2 This is a second-angle schematic diagram of the magnetic field detection device of the present invention;

[0054] Figure 3 This is a third-angle schematic diagram of the magnetic field detection device of the present invention;

[0055] Figure 4 This is an exploded view of the magnetic field detection device of the present invention;

[0056] Figure 5 This is a schematic diagram of the working principle of the magnetic field detection device of the present invention;

[0057] Figure 6 This is a flowchart of Example 2;

[0058] Figure 7 This is a partial screenshot of the magnetic field model of the magnetic nail;

[0059] Figure 8 This is a partial screenshot of the magnetic field model of the magnetic nail.

[0060] Label Explanation:

[0061] 1. Frame, 10. Detection ports, 2. Control components, 3. Magnetic field detection module, 4. Power supply module, 5. Casters, 6. Handle, 61. Buckle, 62. Touch ball, 7. Sound prompt module, 8. Light prompt module, 9. Display module. Detailed Implementation

[0062] The embodiments of the present invention are described below with reference to the accompanying drawings:

[0063] Example 1

[0064] See Figures 1 to 4 The magnetic field detection device for laying magnetic materials in AGV field in this embodiment includes a frame 1. The bottom of the frame 1 is provided with a moving mechanism. The frame 1 is provided with a control component 2, a magnetic field detection module 3 and a power supply module 4. The magnetic field detection module 3 is used to detect magnetic field data in the moving area of ​​the frame 1. The magnetic field detection module 3 is set at a position of 2-30cm above the ground. The control component 2 is communicatively connected to the magnetic field detection module 3. The power supply module 4 is used to supply power to the control component 2 and the magnetic field detection module 3.

[0065] Specifically, the lower part of the frame 1 is provided with a detection port 10 corresponding to the magnetic field detection module 3.

[0066] Specifically, the control component 2 includes a microcontroller (not shown in the figure).

[0067] See Figures 1 to 4 The frame 1 is rectangular, and the magnetic field detection module 3 is arranged along the side of the frame 1 extending to the other side of the frame 1.

[0068] Specifically, the long side of the frame 1 is 20-60cm.

[0069] By setting the frame 1 as a horizontal cuboid structure and setting the magnetic field detection module 3 in the above manner, the structure of the present invention is close to equipment such as AGV and RGV, ensuring that the magnetic field data detected by the present invention is the same as the magnetic field data detected by AGV and RGV.

[0070] See Figure 4 The magnetic field detection module 3 includes several magnetic field detection heads (not shown in the figure), which are spaced apart.

[0071] Since the magnetic field detection module 3 is arranged along the side of the frame 1 extending to the other side of the frame 1, the magnetic field detection heads are arranged in a single-axis multi-point distribution, avoiding the overlap of the detection range between the magnetic field detection heads, thereby ensuring the accuracy of the detection effect of the present invention.

[0072] See Figures 1 to 4 The moving mechanism includes several casters 5, which are respectively arranged on both sides of the frame 1.

[0073] The aforementioned arrangement of the mobile mechanism, on the one hand, avoids the omnidirectional wheel 5 from affecting the magnetic field detection module 3's detection of the magnetic field, and on the other hand, ensures that both sides of the invention remain in contact with the ground, ensuring that the invention is close to the ground for magnetic field measurement, thereby improving the site adaptability of the invention.

[0074] See Figures 1 to 4 The frame 1 is provided with a handle 6 on its upper part.

[0075] By providing a handle 6 on the frame 1, it is convenient for workers to push the invention to move by the handle 6, eliminating the trouble of setting up a power source, reducing the weight and production cost of the invention, and improving the flexibility of the invention.

[0076] See Figure 2 The handle 6 and the frame 1 are connected by a snap fastener; specifically, the handle 6 and the frame 1 are connected by a snap fastener 61 and a ball catch 62.

[0077] The above-mentioned arrangement makes it easy for production personnel to install the handle 6 on the frame 1.

[0078] See Figures 1 to 4 The handle 6 is a telescopic handle 6. By storing the handle 6, the space occupied by the present invention can be reduced, thereby improving the portability of the present invention.

[0079] See Figure 4 The control component 2 is equipped with a sound prompt module 7 and / or a light prompt module 8.

[0080] By setting up the sound prompt module 7 and / or the light prompt module 8, the present invention can provide prompts to staff through sound / light when detecting magnetic fields.

[0081] The control component 2 in this embodiment is provided with a sound prompt module 7 and a light prompt module 8. The sound prompt module 7 is a buzzer and the light prompt module 8 is an LED light.

[0082] See Figure 5 The control component 2 is equipped with several buttons (not shown in the figure). By operating the buttons, the sound prompt module 7 and the light prompt module 8 can be set to respond only when a magnetic field of corresponding strength and magnetic pole direction (alarm value) are detected, so as to prompt the staff whether a magnetic field that may affect the normal operation of AGV, RGV and other equipment has been detected. This filters out weak magnetic fields that do not affect the normal operation of AGV, RGV and other equipment, and overcomes the problem that handheld magnetic field measuring devices in existing magnetic field detection methods will prompt as soon as a magnetic field is detected. This effectively improves the work efficiency of the staff and reduces the workload of the staff.

[0083] See Figure 1 , Figure 2 and Figure 4 The control component 2 is provided with a display module 9, which is an LCD display.

[0084] By setting up display module 9, it is possible to display detection data such as battery level, magnetic field strength, and magnetic pole direction in real time.

[0085] The control component 2 is equipped with a data storage module (not shown in the figure).

[0086] By setting up a data storage module, after the invention quickly and effectively detects the magnetic field distribution, magnetic field strength, and magnetic pole direction in the application scenario, the relevant data records can be stored, which facilitates the subsequent export of data records for computer analysis, providing an important basis for evaluating the feasibility of the project plan.

[0087] See Figure 4 The power supply module 4 is a rechargeable lithium battery with a voltage of 9-24V.

[0088] Compared with the prior art, the magnetic field detection device of the present invention for laying magnetic materials in AGV sites has the following advantages:

[0089] (1) The magnetic field detection device of the present invention is designed in imitation of the structure of AGV. By adjusting the installation height of the magnetic field detection module 3 to the same height above the ground as AGV, RGV and other equipment, and ensuring that the detection distance of the magnetic field detection module 3 is consistent with the position of the magnetic field sensor of AGV and RGV, the present invention can be directly placed on the application site to scan the magnetic field. This ensures that the magnetic field data detected by the present invention at the same position and height is consistent with the magnetic field data detected by AGV and RGV, ensuring that the data is accurate and reliable. This saves the trouble of having to place the AGV on the magnetic navigation route multiple times to obtain the actual magnetic field strength in order to adjust the magnetic navigation route when setting up the magnetic navigation AGV project. The present invention has the advantages of low cost, easy production and manufacturing, and strong versatility.

[0090] (2) Since the application site for setting up a magnetic navigation AGV project is large, the area to be detected is relatively large. However, the detection area of ​​the handheld magnetic field measuring device is small, resulting in a large workload for magnetic field detection. The scanning area of ​​the present invention is large, thereby reducing the workload of detection and enabling the rapid completion of magnetic field detection of the application site for setting up a magnetic navigation AGV project, effectively improving the efficiency of setting up a magnetic navigation AGV project.

[0091] (3) Since it is necessary to compare the magnetic field data of the application site with the standard magnetic field data when setting up the magnetic navigation AGV project, by using the present invention to measure the magnetic field of the standard site and the application site, it can be ensured that the measurement direction and measurement distance of the two sets of magnetic field data are consistent, and the data of the two are comparable.

[0092] Example 2

[0093] See Figure 6 This embodiment provides a method for setting up a magnetic navigation AGV project using the above-mentioned magnetic field detection device, including the following steps:

[0094] The magnetic field data of a standard site with magnetic conductive material laid on it is obtained using a magnetic field detection device to establish a standard magnetic field model. The magnetic field detection device is equipped with a magnetic field detection module 2-30cm above the ground.

[0095] Use the same magnetic field detection device to obtain magnetic field data of the application site with the same magnetic permeable material;

[0096] Compare the magnetic field data of the standard magnetic field model and the application site;

[0097] If the magnetic field data of the application site does not contain any parts that do not conform to the standard magnetic field model, then it is determined that the application site can be used to set up a magnetic navigation AGV project.

[0098] If the magnetic field data of the application site contains parts that do not conform to the standard magnetic field model, then compare the variation model of the standard magnetic field model with the magnetic field data of the application site. If the magnetic field data of the application site contains parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site can be set up with a magnetic navigation AGV project. If the magnetic field data of the application site does not contain parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site cannot be set up with a magnetic navigation AGV project.

[0099] Preferably, measuring the magnetic field data of a standard site covered with magnetic materials using a magnetic field detection device includes the following steps:

[0100] Lay magnetic materials in a standard site;

[0101] Use a magnetic field detection device to detect the magnetic field data of a standard site;

[0102] A standard magnetic field model is established based on the magnetic field data of a standard site.

[0103] Preferably, measuring the magnetic field data of the application site covered with magnetic materials using a magnetic field detection device includes the following steps:

[0104] Lay magnetic materials at the application site;

[0105] The magnetic field data of the application site is detected using the same magnetic field detection device as that used to detect the magnetic field data of the standard site.

[0106] Establish magnetic field data for the application site based on the magnetic field data of the application site.

[0107] By using the same magnetic field detection device as the standard site to detect the magnetic field data, the magnetic field data of the application site are obtained based on the same magnetic field detection device, thereby reducing data errors caused by different equipment, ensuring that the measurement direction and measurement distance of the two sets of magnetic field data are consistent, and ensuring that the data of the two are comparable.

[0108] Preferably, comparing the magnetic field data of the standard magnetic field model and the application site includes the following steps:

[0109] The standard magnetic field model is entered into the central control system, and the reference value S is set according to the standard magnetic field model.

[0110] Set the first sample value C and the second sample value D, with the initial values ​​of the first sample value C and the second sample value D being 0;

[0111] Extract one data sample Ax from the magnetic field data of the application site. Data sample Ax contains nxm data, where n represents the n columns of data after the magnetic field detection heads on the magnetic field detection device are moved and arranged in the order of acquisition, and m represents the 0 to m rows of data after the n columns of data are arranged in the order of acquisition.

[0112] In this embodiment, n∈[8,10], m∈[100,1000]; the magnetic field detection device moves along a straight line or a curve whose trajectory is close to a straight line.

[0113] Locate the n x m data points within the data sample Ax, where the location number of the data is [j, i], where j represents the row number and i represents the column number;

[0114] Analyze the data in data sample Ax one by one in reverse order of the row number;

[0115] If [j,i] is less than S, it is necessary to determine whether [j-1,i] is greater than or equal to S. If so, the first sample value C is updated, C = C + 1, and the comparison continues to the next data. Otherwise, the first sample value C is not updated, and the comparison continues to the next data.

[0116] If [j,i] is greater than or equal to S, then it is necessary to determine whether [j-1,i] is less than S; if so, then update the second sample value D, D = D+1, and continue to compare the next data; otherwise, do not update the second sample value D, and continue to compare the next data.

[0117] If C+D=0, then it is determined that the data sample Ax is the same as the standard magnetic field model, the data sample Ax does not have any part that does not conform to the standard magnetic field model, and the area corresponding to the data sample Ax can be set up with a magnetic navigation AGV project.

[0118] If C+D≠0 and C+D<K, where K is the magnetic field anomaly reference value, then it is determined that the data sample Ax does not conform to either the standard magnetic field model or the variation model of the standard magnetic field model, and a magnetic navigation AGV project can be set up in the area corresponding to the data sample Ax.

[0119] If C+D>K, then it is determined that the data sample Ax contains a part of the variation model that conforms to the standard magnetic field model, the area corresponding to the data sample Ax belongs to the strong magnetic field interference area, and the magnetic navigation AGV project cannot be set up in the area corresponding to the data sample Ax.

[0120] All data samples Ax in the magnetic field data of the application site were analyzed one by one.

[0121] If a data sample Ax corresponds to an area where a magnetic navigation AGV project cannot be set up, then update the third sample value E, E = E + 1; otherwise, do not update the third sample value E.

[0122] After completing the analysis of all data samples Ax, if E≥F, where F is the reference value for outliers, then it is determined that the application site cannot be set up with a magnetic navigation AGV project; otherwise, it is determined that the application site can be set up with a magnetic navigation AGV project.

[0123] Specifically, in this embodiment, K=10 and C+D>K indicates that the area corresponding to data sample Ax contains multiple variations that conform to the standard magnetic field model, or the entire area corresponding to data sample Ax contains variations that conform to the standard magnetic field model. In addition, since there must be multiple variations of data sample Ax that conform to the standard magnetic field model in the area of ​​strong magnetic field interference, if there are more than F (F=6 in this embodiment) variations of data sample Ax that conform to the standard magnetic field model, then the site cannot be used to set up a magnetic navigation AGV project.

[0124] The method described above, which compares the magnetic field data of the standard magnetic field model and the application site, analyzes the data sample Ax in the magnetic field data of the application site based on the benchmark reference value S. This allows for a rapid determination of whether the data sample Ax in the magnetic field data of the application site is suitable for setting up a magnetic navigation AGV project. After analyzing all the data samples Ax of the application site, it can be determined whether the application site is suitable for setting up a magnetic navigation AGV project. This method is simple, fast, accurate, and reliable. In addition, this invention sets the analysis to [j,i] first, then [j-1,i], and then [j-2,i]. That is, it first analyzes the data in the same column (the data acquired simultaneously at a certain position by n magnetic field detection heads arranged in a straight line on the magnetic field detection device), thereby ensuring the validity of the analyzed data.

[0125] Preferably, when analyzing the data in the data sample Ax one by one in reverse order of the row number of the label; if there are two data with the same label i in the positioning label that trigger the first sample value C and the second sample value D to be updated respectively, then the data with the same label i in the positioning label will no longer be analyzed.

[0126] Two data points with the same label i are data points in the same column of data sample Ax. If the two data points in the same column trigger the update of the first sample value C and the second sample value D respectively, it means that the corresponding column of data in data sample Ax conforms to the variation model of the standard magnetic field model. It is known that multiple columns of data in data sample Ax within the strong magnetic field interference area conform to the variation model of the standard magnetic field model. In the above setting method, ignoring the analysis of the data columns that have been determined to conform to the variation model of the standard magnetic field model can effectively shorten the analysis time and improve the analysis efficiency.

[0127] In this invention, if C+D≠0 and C+D<K, the following three setting methods can be used to make the area corresponding to data sample Ax suitable for setting up a magnetic navigation AGV project.

[0128] The first method: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model, and the magnetic materials corresponding to the data points with values ​​greater than S are removed.

[0129] In the above setup, by removing magnetic objects corresponding to data points with values ​​greater than S, the AGV does not detect magnetic objects at data points with values ​​greater than S, thus avoiding the influence of the abnormal magnetic field.

[0130] The second approach: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to detect the magnetic material corresponding to the data point with a value greater than S.

[0131] In the above configuration, by setting the AGV not to detect magnetic objects corresponding to data points with values ​​greater than S, the AGV cannot detect magnetic objects at data points with values ​​greater than S, thus avoiding the influence of the abnormal magnetic field point.

[0132] The third approach: If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to execute the instructions on the magnetic material corresponding to the data point with a value greater than S.

[0133] In the above configuration, by setting the AGV not to execute the instructions on the magnetic objects corresponding to data points with values ​​greater than S, the AGV will not execute the instructions stored on the magnetic objects even if it detects a magnetic object at a data point with a value greater than S, thus remaining unaffected by the abnormal magnetic field point.

[0134] Specifically, in actual production, production personnel can choose from the above three methods for handling magnetic field anomalies as needed.

[0135] In this embodiment, the magnetic material can be a magnetic nail or a magnetic strip. Figure 7 The image shows a partial screenshot of the magnetic field model of the magnetic nail, where the gray area represents the location of the magnetic nail. Figure 8 A partial screenshot of the magnetic field model of the magnetic strip is shown, where the gray area represents the location of the magnetic strip.

[0136] Compared with the prior art, the present invention provides a method for setting up a magnetic navigation AGV project. It is known that a magnetic navigation AGV can work normally as long as it can read magnetic objects in a normal magnetic field, and it is known that different regions have relatively fixed magnetic fields (geomagnetic fields). After applying a strong magnetic field to the corresponding region, the magnetic field of the corresponding region will change linearly. The present invention establishes a standard magnetic field model in advance and sets up its variation model (the model of the magnetic field after the original magnetic field changes linearly) based on the standard magnetic field model. After the magnetic objects are laid in the application site, the same magnetic field detection device is used to obtain the magnetic field data of the application site with the same magnetic objects. By comparing the magnetic field data of the application site with the standard magnetic field model and the variation model of the standard magnetic field model respectively: (1) if there is no difference between the two, it can be confirmed that the application site can be directly set up with a magnetic navigation AGV project; (2) if there is a partial difference between the two (the magnetic field data of the application site has a partial difference between the two), the magnetic field data of the application site can be compared with the standard magnetic field model and the variation model of the standard magnetic field model respectively. If the magnetic field data of the application site does not conform to the standard magnetic field model or the variation model of the standard magnetic field model, it can be confirmed that there is magnetic field interference in some areas of the application site. The magnetic navigation AGV project can be set up normally by adjusting the corresponding strategy in the area with magnetic field interference. (3) If there is a difference between the two (the magnetic field data of the application site conforms to the variation model of the standard magnetic field model), it can be quickly confirmed that there is magnetic field interference in the entire area of ​​the application site, and the magnetic navigation AGV project cannot be set up normally. Based on whether the magnetic field of the location of the magnetic object in the application site is different from the data in the standard magnetic field model (the magnetic field of the location of the magnetic object in the standard site), it can be quickly determined whether the magnetic object in the application site is in the normal magnetic field, so as to quickly determine whether the area of ​​the application site is suitable for setting up the navigation AGV project, improve the construction speed of the magnetic navigation AGV project, and simplify the adjustment steps of the magnetic navigation AGV project.

[0137] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the present invention.

Claims

1. The setup method for a magnetic navigation AGV project includes the following steps: Use a magnetic field detection device to obtain magnetic field data of a standard site covered with magnetic materials, and establish a standard magnetic field model; Use the same magnetic field detection device to obtain magnetic field data of the application site with the same magnetic permeable material; Compare the magnetic field data of the standard magnetic field model and the application site; If the magnetic field data of the application site does not contain any parts that do not conform to the standard magnetic field model, then it is determined that the application site can be used to set up a magnetic navigation AGV project. If the magnetic field data of the application site contains parts that do not conform to the standard magnetic field model, then compare the variation model of the standard magnetic field model with the magnetic field data of the application site. If the magnetic field data of the application site contains parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site can be set up with a magnetic navigation AGV project. If the magnetic field data of the application site does not contain parts that do not conform to the variation model of the standard magnetic field model, then it is determined that the application site cannot be set up with a magnetic navigation AGV project. The comparison between the standard magnetic field model and the magnetic field data of the application site includes the following steps: The standard magnetic field model is entered into the central control system, and the reference value S is set according to the standard magnetic field model. Set the first sample value C, the second sample value D, and the third sample value E, with the initial values ​​of the first sample value C, the second sample value D, and the third sample value E being 0; Extract one data sample Ax from the magnetic field data of the application site. Data sample Ax contains nxm data, where n represents the n columns of data after the magnetic field detection heads on the magnetic field detection device are moved and arranged in the order of acquisition, and m represents the 0 to m rows of data after the n columns of data are arranged in the order of acquisition. Locate the n x m data points within the data sample Ax, where the location number of the data is [j, i], where j represents the row number and i represents the column number; Analyze the data in data sample Ax one by one in reverse order of the row number; If [j,i] is less than S, it is necessary to determine whether [j-1,i] is greater than or equal to S. If so, the first sample value C is updated, C = C + 1, and the comparison continues to the next data. Otherwise, the first sample value C is not updated, and the comparison continues to the next data. If [j,i] is greater than or equal to S, then it is necessary to determine whether [j-1,i] is less than S; if so, then update the second sample value D, D = D+1, and continue to compare the next data; otherwise, do not update the second sample value D, and continue to compare the next data. If C+D=0, then it is determined that the data sample Ax is the same as the standard magnetic field model, the data sample Ax does not have any part that does not conform to the standard magnetic field model, and the area corresponding to the data sample Ax can be set up with a magnetic navigation AGV project. If C+D≠0 and C+D<K, where K is the magnetic field anomaly reference value, then it is determined that the data sample Ax does not conform to either the standard magnetic field model or the variation model of the standard magnetic field model, and a magnetic navigation AGV project can be set up in the area corresponding to the data sample Ax. If C+D>K, then it is determined that the data sample Ax contains a part of the variation model that conforms to the standard magnetic field model, the area corresponding to the data sample Ax belongs to the strong magnetic field interference area, and the magnetic navigation AGV project cannot be set up in the area corresponding to the data sample Ax. All data samples Ax in the magnetic field data of the application site were analyzed one by one; If a data sample Ax corresponds to an area where a magnetic navigation AGV project cannot be set up, then update the third sample value E, E = E + 1; otherwise, do not update the third sample value E. After completing the analysis of all data samples Ax, if E≥F, where F is the reference value for outliers, then it is determined that the application site cannot be set up with a magnetic navigation AGV project; otherwise, it is determined that the application site can be set up with a magnetic navigation AGV project.

2. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, When analyzing the data in data sample Ax one by one in reverse order of the row number; If two data points with the same label i in the location label trigger the update of the first sample value C and the second sample value D respectively, then the data points with the same label i in the location label will no longer be analyzed.

3. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model, and the magnetic materials corresponding to the data points with values ​​greater than S are removed.

4. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to detect the magnetic material corresponding to the data point with a value greater than S.

5. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, If C+D≠0 and C+D<K, then it is determined that there is a point difference between the data sample Ax and the standard magnetic field model. Therefore, the AGV is set not to execute the instructions on the magnetic material corresponding to the data point with a value greater than S.

6. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, Measuring the magnetic field data of a standard site covered with magnetic materials using a magnetic field detector includes the following steps: Lay magnetic materials in a standard site; Use a magnetic field detection device to detect the magnetic field data of a standard site; A standard magnetic field model is established based on the magnetic field data of a standard site.

7. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, Measuring magnetic field data in an application site covered with magnetic materials using a magnetic field detection device includes the following steps: Lay magnetic materials at the application site; The magnetic field data of the application site is detected using the same magnetic field detection device as that used to detect the magnetic field data of the standard site. Establish magnetic field data for the application site based on the magnetic field data of the application site.

8. The method for setting up a magnetic navigation AGV project according to claim 1, characterized in that, The magnetic field detection device used to detect magnetic field data includes a frame that can move relative to the ground. The frame is equipped with a control device and a magnetic field detection module. The magnetic field detection module is used to detect magnetic field data within the moving area of ​​the frame. The control device is communicatively connected to the magnetic field detection module.

9. The method for setting up a magnetic navigation AGV project according to claim 8, characterized in that, The control device can set the detection magnetic field parameters, and save the magnetic field data of the corresponding magnetic field strength and the corresponding magnetic pole direction.

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