A detection processing method based on electromagnetic tracking for a three-section method of a curved track

Abstract

The application provides a three-section method for detecting a curve based on electromagnetic tracking, which is used for detecting a curve of a logistics vehicle body, and an electromagnetic wire for guiding a path of the logistics vehicle body is arranged below the logistics vehicle body. The method comprises the following steps: monitoring in real time an inductance signal collected by N inductances arranged above the logistics vehicle body, N being an odd number; performing pretreatment to eliminate signal noise; calculating a real-time inductance difference sum of the logistics vehicle body; and judging whether the logistics vehicle body enters a curve according to a change of the real-time inductance difference sum of the logistics vehicle body. The real-time inductance difference sum cbh(t) of the logistics vehicle body can judge that the monitored logistics vehicle body is in a curve entering stage, a curve running stage and a curve exiting stage according to a change rule of the real-time inductance difference sum of the logistics vehicle body, and thus the real-time state of the logistics vehicle body in the curve during the electromagnetic tracking navigation process can be effectively detected.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent vehicle path planning in logistics, and particularly relates to a three-section method for detecting and processing a curved path based on electromagnetic tracking. BACKGROUND

[0002] Many robots have appeared in the fields of indoor transportation, logistics and the like, which to a large extent liberate labor, efficiently distribute and transport goods, and make enterprises have less investment, more income and be safer. However, the tracking methods adopted by these logistics robots are generally straight lines, and when turning, the logistics robots need to first turn in place and then travel in a straight line. Each time the direction is adjusted, it needs to be stopped and then started, which also wastes unnecessary time. If the curved path is directly planned and tracked, the efficiency of transportation and the like can be further improved.

[0003] Although the existing technology does not lay electromagnetic lines, the way of robot tracking and travel path causes unnecessary waste of time and money. SUMMARY

[0004] The present application provides a three-section method for detecting and processing a curved path based on electromagnetic tracking. The present application sets an electromagnetic line for guiding the travel path of the logistics vehicle body at the lower part of the logistics vehicle body, and is equipped with an odd number of inductive foresight real-time inductive signals set at the upper part of the logistics vehicle body. After the inductive signals are preprocessed to reduce noise, the real-time inductive difference ratio of the logistics vehicle body and the calculation formula of cbh(t) are constructed, and the change law of the real-time inductive difference ratio of the logistics vehicle body can be used to determine that the monitored logistics vehicle body is in the stage of entering the curved path, the stage of running in the curved path and the stage of leaving the curved path, and the real-time state of the logistics vehicle body in the electromagnetic tracking navigation process can be effectively detected.

[0005] The present application provides the following technical scheme: a three-section method for detecting and processing a curved path based on electromagnetic tracking, which is used for detecting the curved path of a logistics vehicle body, an electromagnetic line for guiding the travel path of the vehicle body is arranged below the logistics vehicle body, the communication interfaces at both ends of the electromagnetic line are connected to the two communication interfaces of an electromagnetic signal generator, and then the electromagnetic line and the electromagnetic signal generator form a closed loop, comprising the following steps:

[0006] S1, real-time monitoring of the inductive signals collected by the N inductive foresights arranged above the logistics vehicle body, N being an odd number;

[0007] S2, preprocessing the inductive signals collected by the N inductive foresights to eliminate signal noise;

[0008] S3, calculating the real-time inductive difference ratio of the logistics vehicle body;

[0009] S4, judging the entering of the curve by the variation of the real-time inductance difference ratio sum of the logistics vehicle body according to the calculation of the S3 step.

[0010] Further, the preprocessing in the S2 step comprises the following steps:

[0011] S21, limiting the inductance signal AD i (t) of the i-th inductance foresight at the t time point collected in the S1 step to the maximum value AD i max and the minimum value AD i min of the i-th inductance foresight in the monitored time range T, i = 1, 2, …, N;

[0012] S22, judging whether the inductance signal AD i (t) of the i-th inductance foresight at the t time point collected in the S1 step is not less than the maximum value AD i max of the i-th inductance foresight in the monitored time range T, i.e. whether AD i (t) ≥ AD i max is satisfied, if yes, taking the maximum value AD i max of the i-th inductance foresight in the monitored time range T as the inductance signal AD' i (t) of the i-th inductance foresight at the t time point, otherwise, keeping the inductance signal AD i (t) of the i-th inductance foresight at the t time point collected as the inductance signal AD' i (t) of the i-th inductance foresight at the t time point, completing the limiting processing of the inductance signal of the i-th inductance foresight at the t time point;

[0013] S23, performing the normalization calculation on the inductance signal AD' i (t) of the i-th inductance foresight at the t time point obtained after the limiting processing in the S22 step, obtaining the standard value of the inductance signal of the i-th inductance foresight at the t time point

[0014] After the processing of the above steps, the inductance signal AD i (t) of the i-th inductance foresight at the t time point collected in the S1 step is limited to 0-100, and the maximum value of the certain inductance around the electromagnetic wire directly below the vehicle body is 100.

[0015] Further, the calculation formula of the real-time inductance difference ratio sum of the logistics vehicle body in the S3 step is as follows:

[0016]

[0017] Wherein, cbh(t) is the real-time inductance difference ratio of the logistics vehicle body, and is the inductance signal at time t of the Nth inductance foresight after the normalization processing of the S2 step. is the inductance signal at time t of the (N+1) / 2th inductance foresight after the normalization processing of the S2 step, is the inductance signal at time t of the 1st inductance foresight after the normalization processing of the S2 step.

[0018] Further, the criteria for determining whether the logistics vehicle body enters a curve in the S4 step are as follows:

[0019] 1) If the real-time inductance difference ratio of the logistics vehicle body calculated in the S3 step gradually increases from the initial value 0, it is determined that the rear part of the logistics vehicle body is on a straight track, but the front part of the logistics vehicle body has entered a curve.

[0020] 2) If the real-time inductance difference ratio of the logistics vehicle body calculated in the S2 step is within the curve stability threshold range, it is determined that the logistics vehicle body has completely left the straight track and entered the curve.

[0021] 3) If the real-time inductance difference ratio of the logistics vehicle body calculated in the S2 step gradually decreases and returns to the initial value 0, it is determined that the logistics vehicle body has exited the curve and entered the straight track, and the difference ratio returning to 0 indicates that the logistics vehicle body has been driving on the straight track.

[0022] Further, the curve stability threshold range is 80≤cbh(t)≤90.

[0023] Further, the odd-numbered N inductances foresights on the upper part of the logistics vehicle body are arranged in a transverse and vertical sequence, and the odd-numbered N inductances foresights on the upper part of the logistics vehicle body are all symmetrically arranged with the first inductance center, and are on a straight line where the electromagnetic wire is located, and the interval distance between each inductance is equal.

[0024] Further, the interval distance between each inductance foresight is 3cm-5cm, each inductance foresight is a coil letter-shaped inductance, the package size is 8×10mm, the inductance is 10mH / 100mH, and the magnetic conductor property is ferrite core.

[0025] Further, the diameter of the electromagnetic wire arranged below the logistics vehicle body is 0.3mm-0.5mm

[0026] Further, the distance of each inductance foresight from the vehicle body is not less than 15cm, and the vertical height of each inductance foresight from the ground is 15cm-25cm.

[0027] Further, the electromagnetic signal generator adopts Fourier transform and ensures 20kHZ fundamental constant, input voltage is 7.5V, and output current signal is 100mA.

[0028] The present application has the following advantages:

[0029] The present application sets the electromagnetic wire for guiding the route of the logistics vehicle body at the lower part of the logistics vehicle body, and sets the odd number of inductive front looks at the upper part of the logistics vehicle body, and after pre-processing to reduce the noise of the inductive signal, the real-time inductive difference ratio of the logistics vehicle body and the calculation formula of cbh(t) are constructed, and the change rule of the real-time inductive difference ratio of the logistics vehicle body can be judged to be in the stage of driving into the curve, in the stage of running in the curve and in the stage of driving out of the curve, and the real-time state of the logistics vehicle body in the process of electromagnetic tracking navigation can be effectively detected.

[0030] In the pre-processing stage, after the inductive signals collected by the N inductive front looks above the logistics vehicle body are normalized, the PID fuzzy control optimization process can effectively improve the accuracy and precision of the inductive signals used for real-time inductive difference ratio and cbh(t) calculation of the trained model of the logistics vehicle body, and improve the accuracy of the three-stage detection of the logistics vehicle body in the curve. BRIEF DESCRIPTION OF DRAWINGS

[0031] In the following, the present application will be described in more detail based on embodiments and with reference to the accompanying drawings. In which:

[0032] Figure 1 The electromagnetic tracking working principle diagram in the method provided by the present application;

[0033] Figure 2 The PID optimization control diagram after the inductive signal collected in the electromagnetic tracking working principle provided by the present application is normalized;

[0034] Figure 3 The flowchart of the three-stage method detection processing method based on electromagnetic tracking provided by the present application;

[0035] Figure 4 The change rule line graph of the difference ratio and cbh(t) in the whole three-stage curve detection process of the present application;

[0036] Figure 5 The inductive interval setting diagram when five inductive front looks are used in the present application. DETAILED DESCRIPTION

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] First, let me introduce the working principle of the three-segment curve detection and processing method based on electromagnetic tracking provided in this invention. It adopts the principle of electromagnetic tracking. According to Maxwell's electromagnetic field theory, alternating current will generate an alternating electromagnetic field in the surroundings.

[0039] Different coil axis orientations can induce different magnetic field components. This invention uses a dual-horizontal coil detection scheme to illustrate the monitoring principle of inductive look-ahead detection for vehicle curve movement. Figure 1 As shown, two horizontally placed coils are fixed in the horizontal direction above the front of the car model, with the axes of the two coils being horizontal.

[0040] The signals collected by these two inductors are converted into digital signals, but the signals acquired by the inductors are susceptible to noise interference, so subsequent normalization processing is required to improve their adaptability to different environments. Figure 1 The two inductor acquisitions are named AD. L (t), AD R (t). Using AD L Taking (t) as an example, first, the inductor should be placed on the electromagnetic wire to maximize the value it collects and record it. v The AD corresponding to max v min. First, through the collected AD... L The maximum value AD during the collection period v Compare the maximum values ​​to the collected AD. L Amplitude limiting is applied:

[0041]

[0042] Then for AD′ L (t) is normalized, and the processed data is recorded as AD. vl (t), the normalization algorithm is as follows:

[0043]

[0044] After performing the same normalization process on the other inductor signal acquired, the AD signal is obtained. vr (t), the difference between the two normalized inductors is calculated (AD). cha (t)=AD vr (t)-ADvl (t)), and the basic tracking function can be completed by a PID control. The PID flow chart is shown in Figure 2 , and the algorithm code is as follows:

[0045]

[0046] However, the inductance three-section detection method for the bend of the electromagnetic tracking of the logistics vehicle body formed by the assembly of the above two inductances can only complete the normal tracking function and the over-bend in the slow speed. If the bend is to be processed specially, the above method is not so suitable. Therefore, on this basis, as shown in Figure 3 , a flow chart of a detection processing method of a bend three-section method based on electromagnetic tracking provided by the present application is shown, the method is used for detecting the bend of the logistics vehicle body, an electromagnetic wire for guiding the path of the vehicle body is arranged below the logistics vehicle body, the communication interfaces at both ends of the electromagnetic wire are connected with the two communication interfaces of an electromagnetic signal generator, and then the electromagnetic wire and the electromagnetic signal generator form a closed loop, the method provided by the present application comprises the following steps:

[0047] S1, real-time monitoring of the inductance signals collected by N inductance look-ahead devices arranged above the logistics vehicle body, N is an odd number;

[0048] S2, pre-processing the inductance signals collected by the N inductance look-ahead devices to eliminate signal noise;

[0049] S3, calculating the real-time inductance difference sum of the logistics vehicle body;

[0050] S4, judging the entering of the logistics vehicle body into the bend according to the change of the real-time inductance difference sum of the logistics vehicle body calculated in the step S3.

[0051] As a further preferred embodiment of the present application, the pre-processing in the step S2 comprises the following steps:

[0052] S21, calculating the inductance signal AD i (t) of the i-th inductance look-ahead device at time t collected in the step S1, the maximum value AD i max and the minimum value AD i min of the i-th inductance look-ahead device in the monitored time range T, i=1, 2,.., N;

[0053] S22, judging whether the inductance signal AD i (t) of the i-th inductance look-ahead device collected is not less than the maximum value AD i max of the i-th inductance look-ahead device in the monitored time range T, i.e. whether AD i (t) ≥ AD imax, if yes, then the maximum value AD of the i-th inductance foresight in the monitored time range T i max as the t-time inductance signal AD' of the i-th inductance foresight i (t), otherwise the t-time inductance signal AD of the i-th inductance foresight collected is retained i (t) as the t-time inductance signal AD' of the i-th inductance foresight i (t), the limiting processing of the t-time inductance signal of the i-th inductance foresight is completed;

[0054] S23, the t-time inductance signal AD' of the i-th inductance foresight obtained after the limiting processing of the S22 step is normalized to obtain the standard value of the t-time inductance signal of the i-th inductance foresight i (t) is normalized to obtain the standard value of the t-time inductance signal of the i-th inductance foresight

[0055]

[0056] After the above steps, the t-time inductance signal AD of the i-th inductance foresight collected in the S1 step is limited to 0-100, and it is indicated that the maximum value of an inductance around the electromagnetic wire directly below the vehicle body is 100. i

[0057] Further preferably, the calculation formula of the real-time inductance difference sum of the logistics vehicle body in the S3 step is as follows:

[0058]

[0059] wherein cbh(t) is the real-time inductance difference sum of the logistics vehicle body, is the t-time inductance signal of the N-th inductance foresight after the normalization processing of the S2 step, is the t-time inductance signal of the (N+1) / 2-th inductance foresight after the normalization processing of the S2 step, is the t-time inductance signal of the 1st inductance foresight after the normalization processing of the S2 step.

[0060] Further preferably, the standard for judging whether the logistics vehicle body enters a curve in the S4 step is as follows:

[0061] 1) If the real-time inductance difference sum cbh(t) of the logistics vehicle body calculated in the S3 step gradually increases from the initial value 0, it is determined that the rear part of the logistics vehicle body is on a straight road, but the front part of the logistics vehicle body has entered a curve;

[0062] ​2) If the real-time inductance difference ratio of the logistics vehicle body calculated in the S2 step and cbh(t) are within the threshold range of the curve, it is determined that the logistics vehicle body has completely entered the curve from the straight line;

[0063] 3) If the real-time inductance difference ratio of the logistics vehicle body calculated in the S2 step and cbh(t) gradually decrease and return to the initial value 0 (and fluctuate around 0 with a very small amplitude), it is determined that the logistics vehicle body has exited the curve and entered the straight line, and the difference ratio returning to 0 indicates that the logistics vehicle body has been driving on the straight line.

[0064] Further specifically, the principle of the above-mentioned logistics vehicle body entering the curve is explained as follows: normally, when the fixed inductance foresight is vertically placed symmetrically above the electromagnetic line, the value of the difference ratio cbh(t) is zero. When the vehicle body is about to enter the curve, the inductance foresight located at the front of the logistics vehicle body has deviated from the electromagnetic line. At this time, the value of the difference ratio cbh(t) changes. The farther the inductance foresight deviates from the electromagnetic line, the greater the absolute value of the difference ratio cbh(t) is. The curve three-section detection process is to analyze the difference ratio cbh(t) of the curve and divide the curve into sections.

[0065] The first section is before the vehicle body enters the curve, and the inductance foresight located at the front of the logistics vehicle body has entered the curve, but the rear half of the logistics vehicle body still runs in a straight line. At this time, the inductance foresight gradually deviates from the electromagnetic line, so the difference ratio cbh(t) gradually increases at this time.

[0066] When the value of the difference ratio cbh(t) increases to the threshold range of the curve (80-90), the logistics vehicle body enters the second stage of the curve.

[0067] The third stage is the exit stage, and the inductance foresight located at the front of the logistics vehicle body gradually returns to the position directly above the electromagnetic line of the straight line, and the logistics vehicle body gradually returns to the straight line. At this time, the difference ratio cbh(t) gradually decreases to zero and fluctuates around zero with a very small amplitude. The decreasing process of the difference ratio cbh(t) indicates that the vehicle body is exiting the curve. When the difference ratio cbh(t) returns to zero, it indicates that the vehicle body has been driving on the straight line.

[0068] The change rule of the difference ratio cbh(t) in the three-section process of the whole curve detection is shown in FIG. 1. Figure 4

[0069] Further preferably, the threshold range of the curve is 80≤cbh(t)≤90.

[0070] Further preferably, the inductances of the odd-numbered N inductance foresights on the upper part of the logistics vehicle body are arranged in a horizontal and vertical manner in sequence, and the inductances of the odd-numbered N inductance foresights on the upper part of the logistics vehicle body are all arranged in the first direction.​ Each inductance is center-symmetric and is on a straight line where the electromagnetic wire is located, and the interval distance between each inductance is equal.

[0071] Further preferably, the interval distance between each inductance of the inductance foresight is 3-5 cm, each inductance of the inductance foresight is a coil H-shaped inductance, the package size is 8*10 mm, the inductance is 10-100 mH, and the magnetic conductor property is a ferrite core.

[0072] The number of inductance foresights on the upper part of the logistics vehicle body is five, and the inductance setting condition of the odd-numbered N inductance foresights is further introduced in detail. Figure 5 As shown in the figure, the five inductances with five inductance foresights are numbered 1, 2, 3, 4 and 5 from left to right. The inductances 1, 3 and 5 are placed horizontally, and the inductances 2 and 4 are placed vertically. The inductances 1 and 5 are symmetrically arranged about the inductance 3, and the inductances 2 and 4 are also symmetrically arranged about the inductance 3. The distances L1 between the five inductances are equal, that is, each inductance is arranged at equal intervals. The characteristics of the curve can be obtained by analyzing the collected and processed data of the five inductances.

[0073] First, the difference between the inductance 5 and the inductance 1 is divided by the inductances 1, 3 and 5, and the calculated result is the real-time inductance difference ratio of the logistics vehicle body and cbh(t).

[0074]

[0075] Further preferably, the diameter of the electromagnetic wire arranged below the logistics vehicle body is 0.3-0.5 mm.

[0076] Further preferably, the distance between each inductance foresight and the vehicle body is not less than 15 cm, and the vertical height of each inductance foresight from the ground is 15-25 cm.

[0077] Further preferably, the electromagnetic signal generator used in the present application is a generator with stable output function, adopts Fourier transform and ensures that the 20 kHz fundamental wave is constant, the input voltage is 7.5 V, and the output current signal is 100 mA.

[0078] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0079] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0081] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0082] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A three-segment curve detection and processing method based on electromagnetic tracking, the method being used for curve detection of a logistics vehicle, wherein an electromagnetic line for navigating the vehicle's travel path is disposed beneath the logistics vehicle body, and the communication interfaces at both ends of the electromagnetic line are respectively connected to two communication interfaces of an electromagnetic signal generator, thereby forming a closed loop between the electromagnetic line and the electromagnetic signal generator, characterized in that... Includes the following steps: S1. Real-time monitoring of inductor signals collected by N inductors located above the logistics vehicle body, where N is an odd number; S2. Preprocess the collected N inductor look-ahead signals to remove signal noise; S3. Calculate the real-time inductance difference ratio of the logistics vehicle body; S4. Based on the change in the real-time inductance difference ratio of the logistics vehicle body calculated in step S3, determine whether the logistics vehicle body has entered a curve. The preprocessing in step S2 includes the following steps: S21. The inductance signal AD at time t for the i-th inductor look-ahead acquired in step S1 is... i (t), the maximum value of AD of the i-th inductor look-ahead over the monitored time range T. i max and minimum values ​​AD i min, i = 1, 2, ..., N; S22. Determine the inductance signal AD at time t of the i-th inductor look-ahead sequence. i (t) Whether it is not less than the maximum value of the i-th inductor look-ahead over the monitored time range T, AD i max, i.e., whether AD is satisfied i (t)≥AD i If max, then the maximum value AD of the i-th inductor within the monitored time range T is calculated. i max is the inductance signal AD' at time t for the i-th inductor look-ahead. i (t), otherwise retain the inductance signal AD at time t of the i-th inductor look-ahead. i (t) represents the inductance signal AD' at time t, which is the look-ahead signal of the i-th inductor. i (t), to complete the amplitude limiting processing of the inductor signal at time t for the look-ahead of the i-th inductor; S23. The inductance signal AD' at time t obtained after the amplitude limiting process in step S22 is the look-ahead inductor signal of the i-th inductor at time t. i (t) is normalized to obtain the standard value of the inductance signal at time t for the i-th inductor look-ahead. The formula for calculating the real-time inductance difference ratio of the logistics vehicle body in step S3 is as follows: Wherein, cbh(t) is the real-time inductance difference ratio of the logistics vehicle body, The normalized inductor signal at time t for the Nth inductor look-ahead after step S2. The inductance signal at time t for the (N+1) / 2th inductor look-ahead after the normalization process in step S2. The inductance signal at time t is the first inductance look-ahead signal after the normalization process in step S2.

2. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 1, characterized in that, The criteria for determining whether the logistics vehicle has entered a curve in step S4 are as follows: 1) If the real-time inductance difference ratio of the logistics vehicle body calculated in step S3 gradually increases from the initial value of 0, it is determined that the rear part of the logistics vehicle body is on a straight road, but the front part of the logistics vehicle body has entered the curve. 2) If the real-time inductance difference ratio of the logistics vehicle body calculated in step S2 is within the curve stability threshold range, then it is determined that the logistics vehicle body has completely moved from the straight road into the curve. 3) If the real-time inductance difference ratio of the logistics vehicle body calculated in step S2 gradually decreases and returns to the initial value of 0, it is determined that the logistics vehicle body has exited the curve and entered the straight road. The return of the difference ratio to 0 indicates that the logistics vehicle body is already traveling on the straight road.

3. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 2, characterized in that, The curve stability threshold range is 80≤cbh(t)≤90.

4. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 1, characterized in that, The odd-numbered N inductors on the upper part of the logistics vehicle body are arranged with horizontal and vertical spacing, and the odd-numbered N inductors on the upper part of the logistics vehicle body are all arranged with the first inductor as the first inductor. Each inductor is symmetrical about its center and lies on the straight line of the electromagnetic line, and the spacing between each inductor is equal.

5. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 4, characterized in that, The spacing between each of the aforementioned inductors is 3cm-5cm. Each of the aforementioned inductors is a coil I-shaped inductor with a package size of 8×10mm, an inductance of 10mH / 100mH, and a ferrite core.

6. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 1, characterized in that, The diameter of the electromagnetic wire installed under the logistics vehicle body is 0.3mm-0.5mm.

7. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 1, characterized in that, The distance between each inductor and the vehicle body is not less than 15cm, and the vertical height of each inductor from the ground is 15cm-25cm.

8. The three-segment detection and processing method for curves based on electromagnetic tracking according to claim 1, characterized in that, The electromagnetic signal generator uses Fourier transform and ensures a constant 20kHz fundamental frequency. The input voltage is 7.5V and the output current signal is 100mA.

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