Magnetic navigation positioning method, device and AGV system

Abstract

The present invention relates to the field of magnetic navigation technology, and provides a magnetic navigation positioning method, device and AGV system, wherein the magnetic navigation positioning method comprises: when the AGV reaches the starting point of the navigation magnetic strip, obtaining a pre-constructed magnetic navigation map, the magnetic navigation map contains the AGV's calibration posture at the starting point of the navigation magnetic strip and the calibration posture at the end point of the navigation magnetic strip in the global coordinate system; based on the magnetic navigation map, the external parameters of the AGV's body coordinate system and the induction results of each magnetic strip sensor on the navigation magnetic strip, determining the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic strip, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic strip sensor in the body coordinate system. The present invention is used to solve the defect that the position and posture information of global positioning cannot be output in the prior art, realize the output of the position and posture information of global positioning, and is conducive to the global positioning and control of the AGV.

Description

Technical Field

[0001] The present invention relates to the field of magnetic navigation technology, and in particular to a magnetic navigation positioning method, device and AGV system. Background Art

[0002] AGV (Automatic Guided Vehicle) is a battery-powered transport vehicle equipped with electromagnetic or optical automatic guidance devices that can travel along a specified guidance path and has safety protection and various transfer functions. AGV has become an important equipment in automated production lines, automated assembly lines, and warehouse logistics automation systems.

[0003] In the workshop of the automated production line, AGVs with navigation functions are usually used to transport materials. At present, the magnetic stripe tracking + detection of magnetic landmark signal parking mode is generally used as the station docking mode of AGV. Magnetic stripes are laid along the road, and there are several stations on the assembly line. The AGV stops at the target station along the magnetic stripe route. This magnetic stripe tracking + detection of magnetic landmark signal parking mode can only determine the displacement of the AGV from the magnetic stripe line based on the magnetic stripe sensor signal, and cannot output the position and posture information of global positioning, which is not conducive to the global positioning and control of the AGV, and causes certain troubles for the task issuance of application software such as the smart factory AGV scheduling software. Summary of the invention

[0004] The present invention provides a magnetic navigation positioning method, device and AGV system, which are used to solve the defect that the prior art cannot output the position and posture information of global positioning, which is not conducive to the global positioning and control of AGV, and realize the output of the position and posture information of global positioning in real time, which is conducive to the global positioning and control of AGV.

[0005] The present invention provides a magnetic navigation positioning method, comprising:

[0006] When the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system;

[0007] Based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is determined, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the body coordinate system.

[0008] According to a magnetic navigation positioning method provided by the present invention, the method for constructing a magnetic navigation map includes:

[0009] When the AGV is at the starting point of the navigation magnetic strip, based on a preset global navigation method, a first initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe are obtained;

[0010] Based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system is determined.

[0011] According to a magnetic navigation positioning method provided by the present invention, the method determines the calibration positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe, including:

[0012] Determine a first pose value based on a first initial pose of the AGV in the global coordinate system;

[0013] Determining a second pose value based on an external parameter of the vehicle body coordinate system;

[0014] Determine a third posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe;

[0015] Determine a first product result obtained by multiplying the first posture value, the second posture value and the third posture value, and use the first product result as the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system.

[0016] According to a magnetic navigation positioning method provided by the present invention, the method for constructing a magnetic navigation map further includes:

[0017] When the AGV is at the end point of the navigation magnetic stripe, based on a preset global navigation method, a second initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe are obtained; based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system is determined;

[0018] Alternatively, based on the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system and the measured posture deviation of the AGV when it is at the end point of the navigation magnetic strip relative to when it is at the starting point of the navigation magnetic strip, the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system is determined.

[0019] According to a magnetic navigation positioning method provided by the present invention, the method determines the calibration positioning posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, including:

[0020] Based on the second initial posture of the AGV in the global coordinate system, determining a fourth posture value;

[0021] Determining a fifth pose value based on an external parameter of the vehicle body coordinate system;

[0022] Determine a sixth posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe;

[0023] Determine a second product result obtained by multiplying the fourth posture value, the fifth posture value, and the sixth posture value, and use the second product result as the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system.

[0024] According to a magnetic navigation positioning method provided by the present invention, the real-time position and posture of the AGV in the global coordinate system during its travel along the navigation magnetic strip is determined based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic strip sensor on the navigation magnetic strip, including:

[0025] Determine a third initial posture of the AGV in the global coordinate system based on the marked positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each of the magnetic stripe sensors on the navigation magnetic strip;

[0026] Based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe and the preset degeneration direction judgment condition, the degeneration direction of the AGV traveling along the navigation magnetic stripe is determined, and the position of the AGV in the global coordinate system corresponding to the degeneration direction is obtained by inertial recursion;

[0027] Based on the third initial posture of the AGV in the global coordinate system and the position of the AGV in the global coordinate system corresponding to the degenerate direction, the real-time posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip is obtained.

[0028] According to a magnetic navigation positioning method provided by the present invention, the third initial posture of the AGV in the global coordinate system is determined based on the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic strip sensor on the navigation magnetic strip, including:

[0029] Determine a seventh posture value based on the marked posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system;

[0030] Determining an eighth posture value based on an external parameter of a body coordinate system of the AGV;

[0031] Determine a ninth posture value based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe;

[0032] Determine a third product result obtained by multiplying the eighth posture value and the ninth posture value, determine a ratio of the seventh posture value to the third product result, and use the ratio as a third initial posture of the AGV in the global coordinate system.

[0033] According to a magnetic navigation positioning method provided by the present invention, the method further includes:

[0034] When each of the magnetic stripe sensors on the AGV senses the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the AGV is guided to travel toward the end point of the navigation magnetic stripe based on the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system; when the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is consistent with the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, the AGV is controlled to stop.

[0035] The present invention also provides a magnetic navigation positioning device, comprising:

[0036] A first acquisition module is used to acquire a pre-constructed magnetic navigation map when the AGV reaches the starting point of the navigation magnetic stripe, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in a global coordinate system;

[0037] The first determination module is used to determine the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the body coordinate system.

[0038] The present invention also provides an AGV system, comprising an AGV, a navigation magnetic strip, a cross magnetic stripe structure at the starting point of the navigation magnetic strip, a cross magnetic stripe structure at the end point of the navigation magnetic strip, a plurality of magnetic stripe sensors on the AGV corresponding to the cross magnetic stripe structure, and a magnetic navigation positioning device as described in any one of the above.

[0039] The magnetic navigation positioning method provided by the present invention, first, when the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map contains the marked positioning posture of the AGV at the starting point of the navigation magnetic stripe and the marked positioning posture at the end point of the navigation magnetic stripe in the global coordinate system, which can provide an initial basis and a positioning parking basis for subsequent magnetic navigation to achieve precise global positioning, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure of the starting point and the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors, and the map positioning accuracy is high; secondly, based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic stripe is determined, wherein during the driving process of the AGV, the external parameters of the magnetic navigation map and the body coordinate system of the AGV are unchanged, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe change in real time with the movement of the AGV, thereby obtaining real-time global positioning position and posture information, realizing precise global positioning under magnetic navigation, and providing global positioning information for control, planning, scheduling and other tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a flow chart of the magnetic navigation positioning method provided by the present invention;

[0042] Figure 2 It is a structural schematic diagram of the magnetic navigation positioning device provided by the present invention;

[0043] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] It is understandable that in the existing parking mode of magnetic strip tracking + detecting magnetic landmark signals, magnetic strip tracking belongs to the magnetic navigation mode. The principle of the magnetic navigation mode is: the magnetic strip sensor collects the magnetic field signal of the magnetic strip and transmits it to the control unit to determine the deviation of the magnetic strip sensor relative to the magnetic strip position, such as left or right, and then according to the relative position deviation, a control instruction is issued to the drive unit to control the AGV to adjust the position so that the center of the AGV is always located directly above the magnetic strip and the AGV travels along the magnetic strip. It can be seen that the traditional magnetic navigation mode can only determine the magnetic strip line based on the deviation of the AGV relative to the magnetic strip position, and cannot output the position and posture information of global positioning.

[0046] Based on this, an embodiment of the present invention provides a magnetic navigation positioning method, which can output the position and posture information of global positioning in real time in the magnetic stripe navigation mode, which is conducive to the global control and positioning of the AGV. The magnetic navigation positioning method provided by the embodiment of the present invention can be executed by the AGV or the software and / or hardware therein, or by the scheduling system of the AGV.

[0047] Combine the following Figure 1 The magnetic navigation positioning method of the present invention is described.

[0048] Figure 1 It is a schematic diagram of the flow of the magnetic navigation positioning method provided by the present invention.

[0049] like Figure 1 As shown, a magnetic navigation positioning method provided in this embodiment includes at least the following steps:

[0050] S100, when the AGV reaches the starting point of the navigation magnetic stripe, obtain a pre-constructed magnetic navigation map, the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system;

[0051] S200, based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe, determine the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each of the magnetic stripe sensors in the body coordinate system.

[0052] It should be noted that the position and posture mentioned in the present invention refers to position and posture information. The navigation magnetic stripe can be a straight magnetic stripe. The cross magnetic stripe structure can be a cross magnetic stripe structure, and the corresponding magnetic stripe sensors are four.

[0053] The calibrated posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system refers to: the posture of the AGV in the global coordinate system when it is at the starting point of the navigation magnetic stripe, and the posture is calibrated at the starting point of the navigation magnetic stripe, and does not change in subsequent processing, providing an initial basis for subsequent global positioning by magnetic navigation. Similarly, the calibrated posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system refers to: the posture of the AGV in the global coordinate system when it is at the end point of the navigation magnetic stripe, and the posture is calibrated at the end point of the navigation magnetic stripe, and does not change in subsequent processing, providing a basis for positioning and parking for subsequent global positioning by magnetic navigation.

[0054] For example, taking the navigation magnetic stripe as a straight magnetic stripe, the sensing results of each magnetic stripe sensor on the navigation magnetic stripe are as follows: during the movement of the AGV along the navigation magnetic stripe, the average value of the sensing outputs of the two front and rear magnetic stripe sensors on the navigation magnetic stripe can be selected as the sensing result.

[0055] The external parameters of the vehicle body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the vehicle body coordinate system. In the entire magnetic navigation positioning method, the AGV remains unchanged, the calibration posture of each magnetic stripe sensor in the vehicle body coordinate system remains unchanged, and the external parameters of the vehicle body coordinate system remain unchanged. For example, taking the cross magnetic stripe structure as a cross magnetic stripe structure, the external parameters of the vehicle body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the vehicle body coordinate system, including: first, according to the AGV structure design drawing, determine the initial calibration parameters of each magnetic stripe sensor, and then measure the final calibration coordinates according to the final installation position of each magnetic stripe sensor, and then place the AGV on the cross magnetic stripe structure, move the AGV, and confirm the installation angle of each magnetic stripe sensor through the output of each magnetic stripe sensor, and obtain the calibration posture of each magnetic stripe sensor in the vehicle body coordinate system by combining the final calibration coordinates and the installation angle, that is, project the output of each magnetic stripe sensor to the vehicle body coordinate system; four magnetic stripe sensors are set on the AGV, front, back, left and right, then the average value of the x-axis coordinates of the calibration postures of the front and back two magnetic stripe sensors in the vehicle body coordinate system can be used as the x-axis coordinate of the external parameter of the vehicle body coordinate system, and the average value of the y-axis coordinates of the calibration postures of the left and right magnetic stripe sensors in the vehicle body coordinate system can be used as the y-axis coordinate of the external parameter of the vehicle body coordinate system.

[0056] For example, in this embodiment, the starting point of the navigation magnetic stripe can represent the switching point between global navigation and magnetic navigation, and the end point of the navigation magnetic stripe can represent the parking point in the workstation. Before the AGV reaches the starting point of the navigation magnetic stripe, global navigation can be performed based on technologies such as SLAM (Simultaneous localization and mapping) or reflective columns, but global navigation is a low-precision positioning method and is not suitable for high-precision workstation docking or positioning parking requirements. Therefore, magnetic navigation is required when docking or positioning parking at the workstation. When the AGV travels to the starting point of the navigation magnetic stripe, it can enter magnetic navigation along the navigation magnetic stripe. By determining the real-time position and posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe, the real-time global positioning position and posture information of the AGV can be obtained, which can solve the defect that the magnetic stripe line can only be determined based on the deviation of the AGV relative to the magnetic stripe position in the traditional magnetic navigation mode.

[0057] In summary, the magnetic navigation positioning method provided by the present invention, first, when the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map contains the marked positioning posture of the AGV at the starting point of the navigation magnetic stripe and the marked positioning posture at the end point of the navigation magnetic stripe in the global coordinate system, which can provide an initial basis and a positioning parking basis for the subsequent magnetic navigation to achieve precise global positioning, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure of the starting point and the end point of the navigation magnetic stripe and a plurality of magnetic stripe sensors, and the map positioning accuracy is high; secondly, based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic stripe is determined, wherein, during the driving process of the AGV, the external parameters of the magnetic navigation map and the body coordinate system of the AGV are unchanged, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe change in real time with the movement of the AGV, thereby obtaining real-time global positioning position and posture information, realizing precise global positioning under magnetic navigation, and providing global positioning information for control, planning, scheduling and other tasks.

[0058] For example, the method for constructing the magnetic navigation map includes:

[0059] (1) When the AGV is at the starting point of the navigation magnetic strip, based on a preset global navigation method, obtain a first initial posture of the AGV in the global coordinate system, and obtain the external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic strip.

[0060] Wherein, for example, the preset global navigation mode may be a global navigation mode such as SLAM or reflective columns. The first initial position of the AGV in the global coordinate system is the position of the AGV in the global coordinate system obtained in the global navigation mode.

[0061] For example, taking the cross magnetic stripe structure as a cross magnetic stripe structure, four magnetic stripe sensors in the front, rear, left and right can be set on the AGV, and the method for obtaining the external parameters of the vehicle coordinate system is as follows: the average value of the x-axis coordinates of the calibration postures of the front and rear two magnetic stripe sensors in the vehicle coordinate system is used as the x-axis coordinate of the external parameter of the vehicle coordinate system, and the average value of the y-axis coordinates of the calibration postures of the left and right magnetic stripe sensors in the vehicle coordinate system is used as the y-axis coordinate of the external parameter of the vehicle coordinate system.

[0062] For example, taking the cross magnetic stripe structure as a cross magnetic stripe structure, four magnetic stripe sensors are arranged on the AGV, front, back, left and right, and a method for acquiring the sensing result of each magnetic stripe sensor on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe includes: respectively collecting the output of the front magnetic stripe sensor (offset_front) and the output of the rear magnetic stripe sensor (offset_rear), and calculating the average value as the output in the y direction in the sensing result: offset_y=1 / 2(offset_front+offset_rear); respectively collecting the output of the left magnetic stripe sensor (offset_left) and the output of the right magnetic stripe sensor (offset_right), and calculating the average value as the output in the x direction in the sensing structure: offset_x=1 / 2(offset_left+offset_right), and combining the output in the x direction and the output in the y direction to obtain the position and posture of the navigation magnetic stripe under the four magnetic stripe sensors, that is, the sensing result of each magnetic stripe sensor on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe.

[0063] (2) Based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, determine the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system.

[0064] Among them, the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system needs to take into account the characteristics of magnetic navigation. Therefore, it is also necessary to determine the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system based on the first initial posture of the AGV in the global coordinate system, combined with the external parameters of the vehicle coordinate system and the sensing results of the cross-magnetic stripe structure at the starting point of the navigation magnetic strip by each magnetic stripe sensor, so as to provide an initial basis for magnetic navigation.

[0065] Further, the method of determining the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe includes:

[0066] Determine a first pose value based on a first initial pose of the AGV in the global coordinate system;

[0067] Determining a second pose value based on an external parameter of the vehicle body coordinate system;

[0068] Determine a third posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe;

[0069] Determine a first product result obtained by multiplying the first posture value, the second posture value and the third posture value, and use the first product result as the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system.

[0070] Specifically, T_world_body is used to represent the first posture value, T_body_mag_sensor is used to represent the second posture value, T_sensor_mag is used to represent the third posture value, and T_world_mag is used to represent the marked posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, then:

[0071] T_world_mag=T_world_body*T_body_mag_sensor*T_sensor_mag.

[0072] The above scheme can determine the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system through a simple product algorithm. The method is simple and convenient.

[0073] For example, the method for constructing the magnetic navigation map further includes:

[0074] When the AGV is at the end point of the navigation magnetic stripe, based on a preset global navigation method, a second initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe are obtained; the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe can be obtained by using the method for obtaining the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe;

[0075] Based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the calibration posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system is determined.

[0076] The second initial position of the AGV in the global coordinate system is the position of the AGV in the global coordinate system obtained in the global navigation mode. The positioning position of the AGV at the end of the navigation magnetic strip in the global coordinate system can be determined by the same method as the positioning position of the AGV at the starting point of the navigation magnetic strip in the global coordinate system.

[0077] Further, the method of determining the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, includes:

[0078] Determining a fourth posture value based on a second initial posture of the AGV in the global coordinate system;

[0079] Based on the external parameters of the vehicle body coordinate system, a fifth posture value is determined; since the external parameters of the vehicle body coordinate system are fixed for the same AGV, the fifth posture value is equal to the second posture value;

[0080] Determine a sixth posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe;

[0081] Determine a second product result obtained by multiplying the fourth posture value, the fifth posture value, and the sixth posture value, and use the second product result as the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system.

[0082] It can be seen that the same product algorithm can be used to simultaneously calculate the calibration pose of the AGV at the end point of the navigation magnetic strip and the calibration pose of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, thereby improving data processing efficiency.

[0083] Alternatively, in another embodiment, the method for constructing the magnetic navigation map further includes:

[0084] Based on the calibration pose of the AGV at the starting point of the navigation magnetic strip in the global coordinate system and the measured pose deviation of the AGV when it is at the end point of the navigation magnetic strip relative to when it is at the starting point of the navigation magnetic strip, the calibration pose of the AGV at the end point of the navigation magnetic strip in the global coordinate system is determined.

[0085] In this embodiment, the navigation magnetic strip is relatively short, such as the navigation magnetic strip of the access section to the work station. In this case, the end point of the navigation magnetic strip is very close to the starting point of the navigation magnetic strip. A measurement solution can be adopted, such as direct measurement with a tape measure, to more quickly determine the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system, thereby improving the efficiency of building the magnetic navigation map.

[0086] For example, the determining of the real-time position and posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic strip sensor on the navigation magnetic strip includes:

[0087] Based on the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the third initial posture of the AGV in the global coordinate system is determined; wherein, the calibration posture of the AGV at the starting point of the navigation magnetic stripe and the external parameters of the body coordinate system of the AGV in the global coordinate system can be obtained in the method for constructing the magnetic navigation map, and are fixed values, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe change with the movement of the AGV; the navigation magnetic stripe can be a straight magnetic stripe, and the front and rear magnetic stripe sensors of the AGV can sense the magnetic field signal of the straight magnetic stripe, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe are determined by taking the average value according to the sensing output of the front and rear magnetic stripe sensors, and the sensing results of the AGV along the navigation magnetic stripe are updated in real time according to the output of the magnetic stripe sensor during the driving of the AGV;

[0088] Based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe and the preset degeneration direction judgment condition, the degeneration direction of the AGV traveling along the navigation magnetic stripe is determined, and the position of the AGV in the global coordinate system corresponding to the degeneration direction is obtained by inertial recursion;

[0089] Based on the third initial posture of the AGV in the global coordinate system and the position of the AGV in the global coordinate system corresponding to the degenerate direction, the real-time posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip is obtained.

[0090] For example, determining the degradation direction of the AGV traveling along the navigation magnetic strip based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe and a preset degradation direction judgment condition includes:

[0091] Get the angle information of the third initial posture of the AGV in the global coordinate system and convert it into a global posture matrix:

[0092] Mat=[cos(theta)-sin(theta) 0

[0093] sin(theta) cos(theta ) 0 0 0 1]

[0095] Among them, theta is the angle between the AGV and the x-axis of the global coordinate system;

[0096] Read the output of each magnetic stripe sensor to obtain the offset delta (delta_x, delta_y) of the navigation magnetic stripe under multiple magnetic stripe sensors, and project the offset to the global coordinate system to obtain delta_world, which is expressed as follows:

[0097] delta_world = Mat*delta

[0098] The degradation direction is determined based on the x-axis and y-axis components of delta_world. The degradation direction determination conditions are:

[0099] When the absolute value of delta_world_x is less than the absolute value of delta_world_y, the degenerate direction is the y-axis;

[0100] When the absolute value of delta_world_y is less than the absolute value of delta_world_x, the degenerate direction is the x-axis.

[0101] For example, obtaining the position of the AGV in the global coordinate system corresponding to the degenerate direction by inertial recursion includes:

[0102] Inertial recursion can adopt the inertial recursion algorithm in the prior art, and take the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system as the initial value. Through inertial recursion, the position change value of the AGV in the degenerate direction during the driving process along the navigation magnetic strip can be obtained.

[0103] For example, based on the third initial posture of the AGV in the global coordinate system and the position of the AGV in the global coordinate system corresponding to the degenerate direction, obtaining the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic strip includes:

[0104] In the third initial posture of the AGV in the global coordinate system, the coordinate in the degenerate direction is assumed to be 0 by default. The position of the AGV in the global coordinate system corresponding to the degenerate direction is fused into the third initial posture of the AGV in the global coordinate system through multi-data fusion technology, thereby replacing 0 and obtaining the position of the AGV in the global coordinate system corresponding to the degenerate direction.

[0105] Taking the navigation magnetic stripe as a straight magnetic stripe as an example, during the driving process of the AGV, the two magnetic stripe sensors on the front and rear of the AGV can accurately scan the straight magnetic stripe. The third initial position of the AGV in the global coordinate system is the accurate value of global positioning in one direction obtained by magnetic stripe positioning, and the global positioning value in another direction (i.e., the degenerate direction) is obtained by inertial recursion. The third initial position of the AGV in the global coordinate system can be further improved through the degenerate direction, and a more accurate and comprehensive real-time position in the global coordinate system can be obtained, thereby improving the accuracy of global positioning.

[0106] Further, the determining of a third initial posture of the AGV in the global coordinate system based on the marked positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe includes:

[0107] Determine a seventh posture value based on the marked posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system; the seventh posture value is the first product result, which is a known value;

[0108] Determine an eighth posture value based on the external parameters of the body coordinate system of the AGV; since the external parameters of the body coordinate system are unchanged, the eighth posture value is equal to the fifth posture value and the second posture value;

[0109] Determine a ninth posture value based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe;

[0110] Determine a third product result obtained by multiplying the eighth posture value and the ninth posture value, determine a ratio of the seventh posture value to the third product result, and use the ratio as a third initial posture of the AGV in the global coordinate system.

[0111] Specifically, the seventh pose value can still be represented by T_world_mag, the eighth pose value can still be represented by T_body_mag_sensor, the ninth pose value is represented by T'_sensor_mag, and the third initial pose of the AGV in the global coordinate system is represented by T'_world_body, then:

[0112] T'_world_body=T_world_mag*(T_body_mag_sensor) -1 *(T'_sensor_mag) -1 .

[0113] The above formula algorithm is exactly opposite to the product algorithm of the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system. Since the sensing result of each magnetic strip sensor on the navigation magnetic strip changes in real time, T'_sensor_mag and T_sensor_mag represent the posture values ​​under different states. Through the above formula algorithm, the third initial posture of the AGV in the global coordinate system can be quickly obtained.

[0114] For example, the magnetic navigation positioning method further includes:

[0115] When each of the magnetic stripe sensors on the AGV senses the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the AGV is guided to travel toward the end point of the navigation magnetic stripe based on the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system; when the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is consistent with the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, the AGV is controlled to stop.

[0116] Taking the cross magnetic stripe structure as an example, there are four magnetic stripe sensors, wherein the magnetic stripe sensor usually has a detection range of more than ±8cm. Therefore, when the distance from the end point of the navigation magnetic stripe is 8cm, the four magnetic stripe sensors can all sensitively sense the cross magnetic stripe structure at the end point of the navigation magnetic stripe. The end point of the navigation magnetic stripe is provided with a cross magnetic stripe structure, so that the AGV has a larger adjustment space when parking, ensuring the repeated parking accuracy, and the repeated accuracy of a single vehicle is better than 5mm.

[0117] Taking the navigation magnetic strip as a straight magnetic strip as an example, the navigation magnetic strip is set on the road section leading to the workstation, and the end point of the navigation magnetic strip is the parking point in the workstation. If the AGV enters the workstation along the x direction, it travels along the straight magnetic strip, the horizontal x direction is the degenerate direction, and the vertical y direction is the constraint direction. Therefore, the coordinate in the x direction is based on the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system through inertial recursion, and the coordinate in the y direction is calculated by using the magnetic strip offset output by the real-time acquisition magnetic strip sensor to calculate the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic strip; when the distance from the end point of the navigation magnetic strip is 8 cm, and all four magnetic strip sensors are valid, the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system is used as the posture of the parking point in the workstation, and the real-time posture of the current AGV in the global coordinate system during the driving process along the navigation magnetic strip is solved in real time. When the real-time position of the AGV in the global coordinate system during its travel along the navigation magnetic strip is consistent with the marked position of the AGV at the end of the navigation magnetic strip in the global coordinate system, the AGV is controlled to stop. When the AGV stops, the output of the four magnetic strip sensors should be about 0±2mm.

[0118] In this embodiment, with the assistance of the cross magnetic stripe structure, when each magnetic stripe sensor on the AGV senses the cross magnetic stripe structure at the end point of the navigation magnetic stripe, the AGV can be guided to the end point of the navigation magnetic stripe based on the marked positioning posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, thereby accurately guiding the AGV to stop at the end point of the navigation magnetic stripe, thereby improving the parking accuracy.

[0119] The magnetic navigation positioning device provided by the present invention is described below. The magnetic navigation positioning device described below and the magnetic navigation positioning method described above can be referred to in correspondence with each other. Figure 2 As shown, the magnetic navigation positioning device comprises:

[0120] The first acquisition module 201 is used to acquire a pre-constructed magnetic navigation map when the AGV reaches the starting point of the navigation magnetic stripe, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in a global coordinate system;

[0121] The first determination module 202 is used to determine the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each of the magnetic stripe sensors in the body coordinate system.

[0122] For example, the first acquisition module 201 is specifically configured to:

[0123] When the AGV is at the starting point of the navigation magnetic strip, based on a preset global navigation method, a first initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe are obtained;

[0124] Based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system is determined.

[0125] For example, the first acquisition module 201 is further configured to:

[0126] Determine a first pose value based on a first initial pose of the AGV in the global coordinate system;

[0127] Determining a second pose value based on an external parameter of the vehicle body coordinate system;

[0128] Determine a third posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe;

[0129] Determine a first product result obtained by multiplying the first posture value, the second posture value and the third posture value, and use the first product result as the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system.

[0130] For example, the first acquisition module 201 is further configured to:

[0131] When the AGV is at the end point of the navigation magnetic strip, based on a preset global navigation method, a second initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe are obtained;

[0132] Determine the calibration pose of the AGV at the end point of the navigation magnetic strip in the global coordinate system based on the second initial pose of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe;

[0133] Alternatively, based on the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system and the measured posture deviation of the AGV when it is at the end point of the navigation magnetic strip relative to when it is at the starting point of the navigation magnetic strip, the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system is determined.

[0134] For example, the first acquisition module 201 is further configured to:

[0135] Determining a fourth posture value based on a second initial posture of the AGV in the global coordinate system;

[0136] Determining a fifth pose value based on an external parameter of the vehicle body coordinate system;

[0137] Determine a sixth posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe;

[0138] Determine a second product result obtained by multiplying the fourth posture value, the fifth posture value, and the sixth posture value, and use the second product result as the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system.

[0139] For example, the first determining module 202 is specifically configured to:

[0140] Determine a third initial posture of the AGV in the global coordinate system based on the marked positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each of the magnetic stripe sensors on the navigation magnetic strip;

[0141] Based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe and the preset degeneration direction judgment condition, the degeneration direction of the AGV traveling along the navigation magnetic stripe is determined, and the position of the AGV in the global coordinate system corresponding to the degeneration direction is obtained by inertial recursion;

[0142] Based on the third initial posture of the AGV in the global coordinate system and the position of the AGV in the global coordinate system corresponding to the degenerate direction, the real-time posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip is obtained.

[0143] For example, the first determining module 202 is further configured to:

[0144] Determine a seventh posture value based on the marked posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system;

[0145] Determining an eighth posture value based on an external parameter of a body coordinate system of the AGV;

[0146] Determine a ninth posture value based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe;

[0147] Determine a third product result obtained by multiplying the eighth posture value and the ninth posture value, determine a ratio of the seventh posture value to the third product result, and use the ratio as a third initial posture of the AGV in the global coordinate system.

[0148] For example, the first determining module 202 is further configured to:

[0149] When each of the magnetic stripe sensors on the AGV senses the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the AGV is guided to travel toward the end point of the navigation magnetic stripe based on the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system; when the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is consistent with the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, the AGV is controlled to stop.

[0150] The present invention also provides an AGV system, comprising an AGV, a navigation magnetic strip, a cross magnetic stripe structure at the starting point of the navigation magnetic strip, a cross magnetic stripe structure at the end point of the navigation magnetic strip, a plurality of magnetic stripe sensors on the AGV corresponding to the cross magnetic stripe structure, and a magnetic navigation positioning device as described in any one of the above.

[0151] For example, the navigation magnetic stripe may be a straight magnetic stripe. The cross magnetic stripe structure may be a cross magnetic stripe structure, and four magnetic stripe sensors are provided. The four magnetic stripe sensors are used to identify the straight magnetic stripe and the cross magnetic stripe structure. The four magnetic stripe sensors are respectively located at the front, back, left, and right of the AGV.

[0152] Through the above scheme, four magnetic stripe sensors can be used to identify the cross magnetic stripe structure. When positioning parking, the four magnetic stripe sensors sense the cross magnetic stripe structure at the end point of the navigation magnetic stripe, and obtain the calibration posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, thereby guiding the AGV to travel to the end point of the navigation magnetic stripe. Therefore, there is no need to add other types of sensors to the AGV to provide parking signals, and the structure is simpler.

[0153] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 301, a communication interface 302, a memory 303 and a communication bus 304, wherein the processor 301, the communication interface 302 and the memory 303 communicate with each other through the communication bus 304. The processor 301 may call the logic instructions in the memory 303 to execute the magnetic navigation positioning method, which includes:

[0154] When the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system;

[0155] Based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is determined, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the body coordinate system.

[0156] In addition, the logic instructions in the above-mentioned memory 303 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0157] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the magnetic navigation positioning method provided by the above methods, the method comprising:

[0158] When the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system;

[0159] Based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is determined, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the body coordinate system.

[0160] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the magnetic navigation positioning method provided above, the method comprising:

[0161] When the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system;

[0162] Based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is determined, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each magnetic stripe sensor in the body coordinate system.

[0163] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0164] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetic navigation positioning method, characterized in that: include: When the AGV reaches the starting point of the navigation magnetic stripe, a pre-constructed magnetic navigation map is obtained, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in the global coordinate system; Based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV and the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe, determine the real-time posture of the AGV in the global coordinate system during the driving process along the navigation magnetic stripe, wherein the external parameters of the body coordinate system are obtained based on the calibration posture of each of the magnetic stripe sensors in the body coordinate system; The method for constructing the magnetic navigation map comprises: When the AGV is at the end point of the navigation magnetic stripe, based on a preset global navigation method, a second initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe are obtained; based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system is determined; Alternatively, based on the calibration pose of the AGV at the starting point of the navigation magnetic strip in the global coordinate system and the measured position deviation of the AGV when it is at the end point of the navigation magnetic strip relative to when it is at the starting point of the navigation magnetic strip, determine the calibration pose of the AGV at the end point of the navigation magnetic strip in the global coordinate system; The method of determining the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, includes: Determining a fourth posture value based on a second initial posture of the AGV in the global coordinate system; Determining a fifth pose value based on an external parameter of the vehicle body coordinate system; Determine a sixth posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe; Determine a second product result obtained by multiplying the fourth posture value, the fifth posture value, and the sixth posture value, and use the second product result as the calibration posture of the AGV at the end point of the navigation magnetic strip in the global coordinate system.

2. The magnetic navigation positioning method according to claim 1, characterized in that: The method for constructing the magnetic navigation map comprises: When the AGV is at the starting point of the navigation magnetic strip, based on a preset global navigation method, a first initial posture of the AGV in the global coordinate system is obtained, and external parameters of the vehicle coordinate system and sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe are obtained; Based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system is determined.

3. The magnetic navigation positioning method according to claim 2, characterized in that: The method of determining the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system based on the first initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross magnetic stripe structure at the starting point of the navigation magnetic stripe, includes: Determine a first pose value based on a first initial pose of the AGV in the global coordinate system; Determining a second pose value based on an external parameter of the vehicle body coordinate system; Determine a third posture value based on the sensing result of each of the magnetic stripe sensors on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe; Determine a first product result obtained by multiplying the first posture value, the second posture value and the third posture value, and use the first product result as the calibration posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system.

4. The magnetic navigation positioning method according to any one of claims 1 to 3, characterized in that: The method of determining the real-time position and posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe includes: Determine a third initial posture of the AGV in the global coordinate system based on the marked positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each of the magnetic stripe sensors on the navigation magnetic strip; Based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe and the preset degeneration direction judgment condition, the degeneration direction of the AGV traveling along the navigation magnetic stripe is determined, and the position of the AGV in the global coordinate system corresponding to the degeneration direction is obtained by inertial recursion; Based on the third initial posture of the AGV in the global coordinate system and the position of the AGV in the global coordinate system corresponding to the degenerate direction, the real-time posture of the AGV in the global coordinate system during the driving of the AGV along the navigation magnetic strip is obtained.

5. The magnetic navigation positioning method according to claim 4, characterized in that: The determining of the third initial posture of the AGV in the global coordinate system based on the marked positioning posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic strip sensor on the navigation magnetic strip, includes: Determine a seventh posture value based on the marked posture of the AGV at the starting point of the navigation magnetic strip in the global coordinate system; Determining an eighth posture value based on an external parameter of a body coordinate system of the AGV; Determine a ninth posture value based on the sensing results of each of the magnetic stripe sensors on the navigation magnetic stripe; Determine a third product result obtained by multiplying the eighth posture value and the ninth posture value, determine a ratio of the seventh posture value to the third product result, and use the ratio as a third initial posture of the AGV in the global coordinate system.

6. The magnetic navigation positioning method according to any one of claims 1 to 3, characterized in that: The method further comprises: When each of the magnetic stripe sensors on the AGV senses the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, the AGV is guided to travel toward the end point of the navigation magnetic stripe based on the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system; when the real-time posture of the AGV in the global coordinate system during its travel along the navigation magnetic stripe is consistent with the marked posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system, the AGV is controlled to stop.

7. A magnetic navigation positioning device, characterized in that: include: A first acquisition module is used to acquire a pre-constructed magnetic navigation map when the AGV reaches the starting point of the navigation magnetic stripe, wherein the magnetic navigation map is constructed based on the cross-magnetic stripe structure at the starting point of the navigation magnetic stripe, the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, and a plurality of magnetic stripe sensors on the AGV corresponding to the cross-magnetic stripe structure, and the magnetic navigation map contains the marked position of the AGV at the starting point of the navigation magnetic stripe and the marked position at the end point of the navigation magnetic stripe in a global coordinate system; A first determination module is used to determine the real-time position and posture of the AGV in the global coordinate system during the driving process along the navigation magnetic stripe based on the magnetic navigation map, the external parameters of the body coordinate system of the AGV, and the sensing results of each magnetic stripe sensor on the navigation magnetic stripe, wherein the external parameters of the body coordinate system are obtained based on the calibration position and posture of each magnetic stripe sensor in the body coordinate system; The first acquisition module is also used to obtain the second initial posture of the AGV in the global coordinate system based on a preset global navigation method when the AGV is at the end point of the navigation magnetic stripe, and obtain the external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe; determine the calibration posture of the AGV at the end point of the navigation magnetic stripe in the global coordinate system based on the second initial posture of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe; or determine the global coordinate system based on the calibration posture of the AGV at the starting point of the navigation magnetic stripe in the global coordinate system and the measured posture deviation of the AGV when it is at the end point of the navigation magnetic stripe relative to the starting point of the navigation magnetic stripe. The method comprises the following steps: determining the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system; determining the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system based on the second initial pose of the AGV in the global coordinate system, the external parameters of the vehicle coordinate system, and the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe, including: determining a fourth pose value based on the second initial pose of the AGV in the global coordinate system; determining a fifth pose value based on the external parameters of the vehicle coordinate system; determining a sixth pose value based on the sensing results of each magnetic stripe sensor on the cross-magnetic stripe structure at the end point of the navigation magnetic stripe; determining a second product result obtained by multiplying the fourth pose value, the fifth pose value and the sixth pose value, and taking the second product result as the calibration pose of the AGV at the end point of the navigation magnetic stripe in the global coordinate system.

8. An AGV system, characterized in that: It includes an AGV, a navigation magnetic stripe, a cross magnetic stripe structure at the starting point of the navigation magnetic stripe, a cross magnetic stripe structure at the end point of the navigation magnetic stripe, a plurality of magnetic stripe sensors on the AGV corresponding to the cross magnetic stripe structure, and the magnetic navigation positioning device as described in claim 7.

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