Vehicle body precision positioning system and positioning method based on multiple magnetic stripe sensors

Abstract

The invention discloses a vehicle body precision positioning system and method based on multiple magnetic stripe sensors. The vehicle body precision positioning system comprises a trolley control unit, a control calculation unit and a magnetic stripe sensing unit which are arranged at the bottom of an AGV trolley. The trolley control unit is electrically connected with the control calculation unit through a communication line and used for receiving the vehicle body attitude angle and the vehicle body displacement calculated by the control calculation unit and then adjusting the position of the AGV. The control calculation unit is electrically connected with the magnetic stripe induction unit through a bus and used for obtaining magnetic stripe induction signals transmitted by the magnetic stripe induction unit and then calculating a vehicle body attitude angle and vehicle body displacement. The magnetic stripe sensing unit comprises a plurality of strip-shaped magnetic stripe sensors and is used for sensing magnetic stripes below the AGV to form magnetic stripe sensing signals; the magnetic strip comprises two crossed magnetic strips, the crossed position of the magnetic strips is surrounded by the magnetic strip sensors, branches formed by the crossed magnetic strips are in one-to-one correspondence with the strip-shaped magnetic strip sensors respectively, and the magnetic strip branches are in induction fit with the corresponding strip-shaped magnetic strip sensors respectively.

Description

Technical Field

[0001] The invention relates to the technical field of dam on-site maintenance, transportation and positioning, in particular to a vehicle body precision positioning system and positioning method based on multi-magnetic stripe sensors. Background Art

[0002] AGVs are used to transport devices or materials during the maintenance of existing dams. AGVs are usually positioned on site using visual systems, laser systems or RFID as positioning systems. Visual positioning systems such as visual QR codes have high positioning accuracy and are currently the main means of accurate AGV positioning. The existing laser positioning system is relatively expensive and slightly lacks in accuracy compared to visual positioning. RFID can only be used for preliminary positioning, and its positioning accuracy is even worse.

[0003] Existing visual positioning has high requirements for ambient light and clear images of features. When the ambient light changes greatly or the identification features are contaminated, it is very difficult to identify and locate again. The laser positioning system is also greatly affected by the environment and has a high cost. For the application scenario of dam maintenance, the impact on identification is further increased, often resulting in inaccurate or no identification. RFID is relatively less affected by the environment, but the positioning accuracy is too poor. Summary of the invention

[0004] The present invention provides a vehicle body precision positioning system and positioning method based on multi-magnetic stripe sensors, aiming to solve the problems that the existing AGV vehicles are difficult to identify during the positioning process due to large changes in ambient light or pollution of identification features, the laser system is also greatly affected by the environment, and the RFID positioning accuracy is too poor, and it is impossible to take into account both accuracy and stability.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: The vehicle body precision positioning system based on multiple magnetic stripe sensors includes a vehicle control unit, a control calculation unit and a magnetic stripe sensing unit located at the bottom of the AGV vehicle; The vehicle control unit is electrically connected to the control calculation unit through a communication line, and is used to adjust the position of the AGV vehicle after receiving the vehicle body posture angle and vehicle body displacement calculated by the control calculation unit; The control calculation unit is electrically connected to the magnetic stripe sensing unit through a bus, and is used to calculate the vehicle body posture angle and vehicle body displacement after obtaining the magnetic stripe sensing signal transmitted by the magnetic stripe sensing unit; The magnetic stripe sensing unit includes a plurality of strip-shaped magnetic stripe sensors, which are used to sense the magnetic stripe under the AGV to form a magnetic stripe sensing signal; The magnetic stripe comprises two crossed magnetic stripes, the crossing position of the magnetic stripes is surrounded by a magnetic stripe sensor, the branches formed by the crossed magnetic stripes correspond to the strip-shaped magnetic stripe sensors one by one, and the magnetic stripe branches form an inductive match with the corresponding strip-shaped magnetic stripe sensors.

[0006] Preferably, the magnetic stripe sensing unit comprises four strip-shaped magnetic stripe sensors, which cooperate to form a square, the intersection of the magnetic stripes is located within the square, and the branches of the magnetic stripes after the intersection respectively form an induction cooperation with the corresponding strip-shaped magnetic stripe sensors.

[0007] As a more preferred embodiment, the strip-shaped magnetic stripe sensors are all connected in parallel to the same bus and electrically connected to the same control and computing unit.

[0008] Furthermore, the control calculation unit includes a magnetic stripe controller.

[0009] Furthermore, the vehicle control unit includes an AGV controller.

[0010] Specifically, the magnetic stripes cross vertically or do not cross vertically, and the intersection point is the midpoint of the magnetic stripes.

[0011] The method for precise positioning of a vehicle body based on a multi-magnetic stripe sensor, when the magnetic stripes cross vertically, uses the above-mentioned precise positioning system for a vehicle body based on a multi-magnetic stripe sensor to position the AGV vehicle, comprising the following steps: S1, the AGV trolley moves initially until the four magnetic stripe sensors of the magnetic stripe sensing unit all sense the magnetic stripe to generate sensing signals, and the trolley control unit brakes the AGV trolley; S2, the strip-shaped magnetic stripe sensors respectively generate magnetic stripe sensing signals, which are transmitted to the magnetic stripe controller of the control calculation unit through the bus, and the axis deviation between the position where the magnetic stripe sensing signal is generated and the corresponding middle position of the strip-shaped magnetic stripe sensor is obtained. The magnetic stripe controller calculates the body posture angle and body displacement according to the formula and each axis deviation; S3. The data signals of the body posture angle and the body displacement are transmitted to the trolley control unit through the communication line. The trolley control unit adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

[0012] Preferably, the S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors intersect vertically, one of the connecting lines is the x-axis, and the other connecting line is the y-axis; S202, the axis deviations between the sensing positions at both ends of the magnetic strip closer to the x-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor are L1 and L2 respectively, and the axis deviations between the sensing positions at both ends of the magnetic strip closer to the y-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor are L3 and L4 respectively; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ; Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic strip approaching the x-axis and the corresponding middle positions of the strip magnetic strip sensors, and L is the distance between the middle positions of a set of relative strip magnetic strip sensors; S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ; ; The displacement of the intersection point in the x-axis direction, Ly is the displacement of the magnetic stripe intersection point in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe approaching the x-axis and the corresponding middle position of the strip magnetic stripe sensor, L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe approaching the y-axis and the corresponding middle position of the strip magnetic stripe sensor, and L is the distance between the middle positions of a group of relative strip magnetic stripe sensors.

[0013] The vehicle body precision positioning method based on multi-magnetic stripe sensors, when the magnetic stripes do not cross vertically, uses the above-mentioned vehicle body precision positioning system based on multi-magnetic stripe sensors to position the AGV vehicle, including the following steps: S1, the AGV trolley moves initially until the four magnetic stripe sensors of the magnetic stripe sensing unit all sense the magnetic stripe to generate sensing signals, and the trolley control unit brakes the AGV trolley; S2, the strip-shaped magnetic stripe sensors respectively generate magnetic stripe sensing signals, which are transmitted to the magnetic stripe controller of the control calculation unit through the bus, and the axis deviation between the position where the magnetic stripe sensing signal is generated and the corresponding middle position of the strip-shaped magnetic stripe sensor is obtained. The magnetic stripe controller calculates the body posture angle and body displacement according to the formula and each axis deviation; S3. The data signals of the body posture angle and the body displacement are transmitted to the trolley control unit through the communication line. The trolley control unit adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

[0014] Preferably, the S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors intersect vertically, one of the connecting lines is the x-axis, and the other connecting line is the y-axis; S202, the axis deviations between the sensing positions at both ends of the magnetic strip closer to the x-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor are L1 and L2 respectively, and the axis deviations between the sensing positions at both ends of the magnetic strip closer to the y-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor are L3 and L4 respectively; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ; Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic strip approaching the x-axis and the corresponding middle positions of the strip magnetic strip sensors, and L is the distance between the middle positions of a set of relative strip magnetic strip sensors; S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ; ; The displacement of the intersection point in the x-axis direction, Ly is the displacement of the magnetic stripe intersection point in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe approaching the x-axis and the corresponding middle position of the strip magnetic stripe sensor, L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe approaching the y-axis and the corresponding middle position of the strip magnetic stripe sensor, and L is the distance between the middle positions of a group of relative strip magnetic stripe sensors.

[0015] Beneficial effects of the present invention: 1. This patent uses magnetic stripe sensors and magnetic stripes as the position and posture positioning system of AGV vehicles, which has the advantages of good universality, strong resistance to environmental interference, low cost, high reliability, etc. It is especially suitable for occasions with large environmental changes and high light pollution; 2. The adjustment method in this patent uses crossed magnetic strips as targets and four rectangularly arranged strip magnetic sensors as sensing devices. The displacement of the vehicle body is obtained by identifying the offset between the center of the magnetic strip sensing unit and the center of the target, and the attitude angle can be calculated through the offset between the magnetic strip sensing position and the middle of the sensor, thereby improving the recognition and adjustment accuracy and providing detailed parameters for adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the arrangement of the present invention at the bottom of the AGV vehicle; Figure 2 It is a schematic diagram of the connection between the magnetic stripe sensing unit and the control calculation unit of the present invention; Figure 3 It is a schematic diagram of the positions of the magnetic stripe and the magnetic stripe sensing unit during the identification process when the magnetic stripe is vertical according to the present invention; Figure 4 It is a schematic diagram of the positions of the magnetic stripe and the magnetic stripe sensing unit after the identification is completed when the magnetic stripe is vertical in the present invention; Figure 5 It is a schematic diagram of the positions of the magnetic stripe and the magnetic stripe sensing unit during the identification process when the magnetic stripe is not vertical according to the present invention; Figure 6It is a schematic diagram of the positions of the magnetic stripe and the magnetic stripe sensing unit after the identification is completed when the magnetic stripe is not vertical in the present invention; In the figure: 1. Car control unit; 101. AGV controller; 2. Communication line; 3. Control computing unit; 301. Magnetic stripe controller; 4. Bus; 5. Magnetic stripe sensing unit; 501. Strip magnetic stripe sensor; 6. Magnetic stripe. DETAILED DESCRIPTION

[0017] As follows, embodiments are further described with reference to the accompanying drawings.

[0018] like Figure 1~Figure 2 As shown, as a preferred embodiment 1, a vehicle body precision positioning system based on multiple magnetic stripe sensors includes a vehicle control unit 1, a control calculation unit 3 and a magnetic stripe sensing unit 5 arranged at the bottom of the AGV vehicle; The vehicle control unit 1 is electrically connected to the control calculation unit 3 via a communication line 2, and is used to adjust the position of the AGV vehicle after receiving the vehicle body posture angle and vehicle body displacement calculated by the control calculation unit 3; The control calculation unit 3 is electrically connected to the magnetic stripe sensing unit 5 through the bus 4, and is used to calculate the vehicle body posture angle and vehicle body displacement after obtaining the magnetic stripe sensing signal transmitted by the magnetic stripe sensing unit 5; The magnetic stripe sensing unit 5 includes a plurality of strip-shaped magnetic stripe sensors 501, which are used to sense the magnetic stripe 6 under the AGV to form a magnetic stripe sensing signal. The strip-shaped magnetic stripe sensor 501 uses an existing long strip-shaped magnetic stripe sensor. The strip-shaped magnetic stripe sensor 501 is provided with a plurality of sensing units along the extending direction of the long strip, which are used to sense the position of the magnetic stripe 6 on the strip-shaped magnetic stripe sensor 501. The magnetic stripe 6 includes two crossed magnetic stripes 6 , the crossing position of the magnetic stripe 6 is surrounded by the magnetic stripe sensor 501 , the branches formed by the crossed magnetic stripe 6 correspond one-to-one to the strip-shaped magnetic stripe sensors 501 , and the branches of the magnetic stripe 6 form an inductive match with the corresponding strip-shaped magnetic stripe sensors 501 .

[0019] The magnetic stripe sensing unit 5 includes four strip-shaped magnetic stripe sensors 501 , which cooperate to form a square. The intersection of the magnetic stripe 6 is located within the square, and the branches of the magnetic stripe 6 after the intersection respectively form an induction cooperation with the corresponding strip-shaped magnetic stripe sensors 501 .

[0020] The strip-shaped magnetic stripe sensors 501 are all connected in parallel to the same bus 4 and are electrically connected to the same control and calculation unit 3 , ensuring that the information of all the strip-shaped magnetic stripe sensors 501 is collected in the same control and calculation unit 3 .

[0021] The control calculation unit 3 includes a magnetic stripe controller 301, which is convenient for calculating the displacement and attitude angle, and an existing PLC controller with calculation function can be used.

[0022] The vehicle control unit 1 includes an AGV controller 101, which is convenient for adjusting the position of the AGV vehicle according to the vehicle body displacement and the vehicle body posture angle, and the existing AGV controller can be used.

[0023] The magnetic stripes 6 may cross vertically or non-vertically, and the intersection point is the midpoint of the magnetic stripes 6. The magnetic stripes 6 cross to form a target, which is used to identify and adjust the position of the AGV trolley.

[0024] like Figure 3~Figure 4 As shown, as a preferred embodiment 2, a vehicle body precision positioning method based on a multi-magnetic stripe sensor, when the magnetic stripes 6 are vertically crossed, the vehicle body precision positioning system based on a multi-magnetic stripe sensor is used to position the AGV, including the following steps: S1, the AGV trolley performs preliminary movement until the four strip-shaped magnetic stripe sensors 501 of the magnetic stripe sensing unit 5 all sense the magnetic stripe 6 to generate a sensing signal, and the trolley control unit 1 brakes the AGV trolley; S2, the strip-shaped magnetic stripe sensor 501 respectively forms a magnetic stripe sensing signal, which is transmitted to the magnetic stripe controller 301 of the control calculation unit 3 through the bus 4, and the axis deviation between the position where the magnetic stripe sensing signal is generated and the corresponding middle position of the strip-shaped magnetic stripe sensor 501 is obtained. The magnetic stripe controller 301 calculates the body posture angle and the body displacement according to the formula and each axis deviation; S3. The data signals of the body posture angle and the body displacement are transmitted to the trolley control unit 1 through the communication line 2. The trolley control unit 1 adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

[0025] The S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors 501 intersect vertically, one of the connecting lines is the x-axis, and the other connecting line is the y-axis, forming a reference line similar to the xy coordinate system; S202, the axis deviations between the sensing positions at both ends of the magnetic stripe 6 closer to the x-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor 501 are L1 and L2 respectively, and the axis deviations between the sensing positions at both ends of the magnetic stripe 6 closer to the y-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor 501 are L3 and L4 respectively, and the axis deviation is the straight-line distance from the sensing signal position of the magnetic stripe 6 to the middle position of the strip-shaped magnetic stripe sensor 501, and the straight-line distance is parallel to the corresponding strip-shaped magnetic stripe sensor 501; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ; Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic strip 6 approaching the x-axis and the corresponding middle positions of the strip-shaped magnetic strip sensor 501, and L is the distance between the middle positions of a set of relative strip-shaped magnetic strip sensors 501; S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ; ; Among them, Lx is the displacement of the intersection of the magnetic stripe 6 in the x-axis direction, Ly is the displacement of the intersection of the magnetic stripe 6 in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe 6 approaching the x-axis and the corresponding middle position of the strip magnetic stripe sensor 501, L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe 6 approaching the y-axis and the corresponding middle position of the strip magnetic stripe sensor 501, and L is the distance between the middle positions of a group of relative strip magnetic stripe sensors 501.

[0026] Preferably, S3 also includes the following steps: during the adjustment process, the body displacement is adjusted first, and then the body posture angle is adjusted, that is, first, Lx and Ly are both adjusted to 0 through step-by-step adjustments, at which time the intersection of the magnetic stripe 6 coincides with the intersection of the reference line, and then the AGV car is rotated to make α 0, at which time the magnetic stripe 6 completely corresponds to and coincides with the reference line, ensuring precise adjustment of the car's posture.

[0027] The vehicle body precision positioning method based on multi-magnetic stripe sensors, when the magnetic stripes 6 do not cross vertically, uses the above-mentioned vehicle body precision positioning system based on multi-magnetic stripe sensors to position the AGV vehicle, including the following steps: S1, the AGV trolley performs preliminary movement until the four strip-shaped magnetic stripe sensors 501 of the magnetic stripe sensing unit 5 all sense the magnetic stripe 6 to generate a sensing signal, and the trolley control unit 1 brakes the AGV trolley; S2, the strip-shaped magnetic stripe sensor 501 respectively forms a magnetic stripe sensing signal, which is transmitted to the magnetic stripe controller 301 of the control calculation unit 3 through the bus 4, and the axis deviation between the position where the magnetic stripe sensing signal is generated and the corresponding middle position of the strip-shaped magnetic stripe sensor 501 is obtained. The magnetic stripe controller 301 calculates the body posture angle and the body displacement according to the formula and each axis deviation; S3. The data signals of the body posture angle and the body displacement are transmitted to the trolley control unit 1 through the communication line 2. The trolley control unit 1 adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

[0028] The S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors 501 intersect vertically, one of the connecting lines is the x-axis, and the other connecting line is the y-axis, forming a reference line similar to the xy coordinate system; S202, the axis deviations between the sensing positions at both ends of the magnetic stripe 6 closer to the x-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor 501 are L1 and L2 respectively, and the axis deviations between the sensing positions at both ends of the magnetic stripe 6 closer to the y-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor 501 are L3 and L4 respectively, and the axis deviation is the straight-line distance from the sensing signal position of the magnetic stripe 6 to the middle position of the strip-shaped magnetic stripe sensor 501, and the straight-line distance is parallel to the corresponding strip-shaped magnetic stripe sensor 501; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ; Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic strip 6 approaching the x-axis and the corresponding middle positions of the strip-shaped magnetic strip sensor 501, and L is the distance between the middle positions of a set of relative strip-shaped magnetic strip sensors 501; S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ; ; Among them, Lx is the displacement of the intersection of the magnetic stripe 6 in the x-axis direction, Ly is the displacement of the intersection of the magnetic stripe 6 in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe 6 approaching the x-axis and the corresponding middle position of the strip magnetic stripe sensor 501, L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe 6 approaching the y-axis and the corresponding middle position of the strip magnetic stripe sensor 501, and L is the distance between the middle positions of a group of relative strip magnetic stripe sensors 501.

[0029] Preferably, S3 also includes the following steps, taking the magnetic strip approaching the x-axis as the main adjustment target, adjusting the body displacement first during the adjustment process, and then adjusting the body attitude angle, that is, first adjusting Lx and Ly to 0 through step-by-step adjustments, at which time the intersection of the magnetic strip 6 coincides with the intersection of the reference line, and then rotating the AGV trolley so that the attitude angle α between the magnetic strip approaching the x-axis and the x-axis is 0. In this state, L1=L2=0, L3=L4, and at this time the magnetic strip 6 approaching the x-axis completely coincides with the x-axis reference line, ensuring precise adjustment of the trolley attitude.

Claims

1. The vehicle body precision positioning system based on multi-magnetic strip sensors is characterized by: It comprises a trolley control unit (1), a control calculation unit (3) and a magnetic stripe sensing unit (5) arranged at the bottom of the AGV trolley; The trolley control unit (1) is electrically connected to the control calculation unit (3) via a communication line (2), and is used to adjust the position of the AGV trolley after receiving the body posture angle and body displacement calculated by the control calculation unit (3); The control calculation unit (3) is electrically connected to the magnetic stripe sensing unit (5) via a bus (4) and is used to obtain the magnetic stripe sensing signal transmitted by the magnetic stripe sensing unit (5) and calculate the vehicle body posture angle and vehicle body displacement; The magnetic stripe sensing unit (5) comprises a plurality of strip-shaped magnetic stripe sensors (501) for sensing the magnetic stripe (6) below the AGV to form a magnetic stripe sensing signal; The magnetic stripe (6) comprises two crossed magnetic stripes (6), the crossing position of the magnetic stripes (6) is surrounded by the magnetic stripe sensor (501), the branches formed by the crossed magnetic stripes (6) correspond one-to-one to the strip-shaped magnetic stripe sensors (501), and the branches of the magnetic stripe (6) form inductive cooperation with the corresponding strip-shaped magnetic stripe sensors (501).

2. The vehicle body precision positioning system based on multiple magnetic stripe sensors according to claim 1 is characterized in that: The magnetic stripe sensing unit (5) comprises four stripe-shaped magnetic stripe sensors (501), the four stripe-shaped magnetic stripe sensors (501) cooperate to form a square, the intersection position of the magnetic stripe (6) is located within the square, and after the intersection, the branches of the magnetic stripe (6) respectively form an inductive cooperation with the corresponding stripe-shaped magnetic stripe sensors (501).

3. The vehicle body precision positioning system based on multiple magnetic stripe sensors according to claim 2 is characterized in that: The strip-shaped magnetic strip sensors (501) are all connected in parallel to the same bus (4) and are electrically connected to the same control calculation unit (3).

4. The vehicle body precision positioning system based on multiple magnetic stripe sensors according to claim 3 is characterized in that: The control computing unit (3) comprises a magnetic stripe controller (301).

5. The vehicle body precision positioning system based on multiple magnetic stripe sensors according to claim 4 is characterized in that: The trolley control unit (1) comprises an AGV controller (101).

6. The vehicle body precision positioning system based on multiple magnetic stripe sensors according to claim 5 is characterized in that: The magnetic stripes (6) cross vertically or non-vertically, and the crossing point is the midpoint of the magnetic stripes (6).

7. A vehicle body precision positioning method based on a multi-magnetic strip sensor, characterized in that: When the magnetic stripes (6) are vertically crossed, the AGV is positioned using the vehicle body precision positioning system based on multiple magnetic stripe sensors as described in any one of claims 1 to 6, comprising the following steps: S1, the AGV trolley performs preliminary movement until the four magnetic stripe sensors (501) of the magnetic stripe sensing unit (5) all sense the magnetic stripe (6) to generate a sensing signal, and the trolley control unit (1) brakes the AGV trolley; S2 and the strip-shaped magnetic stripe sensor (501) respectively generate magnetic stripe sensing signals, which are transmitted to the magnetic stripe controller (301) of the control calculation unit (3) through the bus (4), and the axis deviation between the position where the magnetic stripe sensing signal is generated and the middle position of the corresponding strip-shaped magnetic stripe sensor (501) is obtained. The magnetic stripe controller (301) calculates the vehicle body posture angle and the vehicle body displacement according to the formula and the axis deviations; S3, the data signals of the body posture angle and the body displacement are transmitted to the trolley control unit (1) through the communication line (2), and the trolley control unit (1) adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

8. The method for precise positioning of a vehicle body based on a multi-magnetic strip sensor according to claim 7, characterized in that: The S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors (501) intersect vertically, one of the connecting lines is the x-axis and the other is the y-axis; S202, the axis deviations between the sensing positions at the two ends of the magnetic stripe (6) closer to the x-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor (501) are L1 and L2 respectively, and the axis deviations between the sensing positions at the two ends of the magnetic stripe (6) closer to the y-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor (501) are L3 and L4 respectively; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ； Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at the two ends of the magnetic strip (6) approaching the x-axis and the middle position of the corresponding strip-shaped magnetic strip sensor (501), and L is the distance between the middle positions of a set of opposite strip-shaped magnetic strip sensors (501); S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ； ； Wherein, Lx is the displacement of the intersection of the magnetic stripe (6) in the x-axis direction, Ly is the displacement of the intersection of the magnetic stripe (6) in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe (6) approaching the x-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor (501), L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe (6) approaching the y-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor (501), and L is the distance between the middle positions of a group of relative strip-shaped magnetic stripe sensors (501).

9. A vehicle body precision positioning method based on a multi-magnetic strip sensor, characterized in that: When the magnetic stripes (6) do not cross vertically, positioning the AGV using the vehicle body precision positioning system based on multiple magnetic stripe sensors as described in any one of claims 1 to 6 comprises the following steps: S1, the AGV trolley performs preliminary movement until the four magnetic stripe sensors (501) of the magnetic stripe sensing unit (5) all sense the magnetic stripe (6) to generate a sensing signal, and the trolley control unit (1) brakes the AGV trolley; S2 and the strip-shaped magnetic stripe sensor (501) respectively generate magnetic stripe sensing signals, which are transmitted to the magnetic stripe controller (301) of the control calculation unit (3) through the bus (4), and the axis deviation between the position where the magnetic stripe sensing signal is generated and the middle position of the corresponding strip-shaped magnetic stripe sensor (501) is obtained. The magnetic stripe controller (301) calculates the vehicle body posture angle and the vehicle body displacement according to the formula and the axis deviations; S3, the data signals of the body posture angle and the body displacement are transmitted to the trolley control unit (1) through the communication line (2), and the trolley control unit (1) adjusts the position of the AGV trolley according to the data signals of the body posture angle and the body displacement.

10. The method for precise positioning of a vehicle body based on a multi-magnetic strip sensor according to claim 9, characterized in that: The S2 further comprises the following steps: S201, the connecting lines at the middle positions of two groups of opposite strip-shaped magnetic stripe sensors (501) intersect vertically, one of the connecting lines is the x-axis and the other is the y-axis; S202, the axis deviations between the sensing positions at the two ends of the magnetic stripe (6) closer to the x-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor (501) are L1 and L2 respectively, and the axis deviations between the sensing positions at the two ends of the magnetic stripe (6) closer to the y-axis and the corresponding middle position of the strip-shaped magnetic stripe sensor (501) are L3 and L4 respectively; S203, calculating the posture angle α of the vehicle body, the calculation formula is as follows: ； Wherein, α is the body posture angle, L1 and L2 are the axis deviations between the sensing positions at the two ends of the magnetic strip (6) approaching the x-axis and the middle position of the corresponding strip-shaped magnetic strip sensor (501), and L is the distance between the middle positions of a set of opposite strip-shaped magnetic strip sensors (501); S204, calculating the displacement of the vehicle body, the calculation formula is as follows: ； ； Wherein, Lx is the displacement of the intersection of the magnetic stripe (6) in the x-axis direction, Ly is the displacement of the intersection of the magnetic stripe (6) in the y-axis direction, L1 and L2 are the axis deviations between the sensing positions at both ends of the magnetic stripe (6) approaching the x-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor (501), L3 and L4 are the axis deviations between the sensing positions at both ends of the magnetic stripe (6) approaching the y-axis and the middle position of the corresponding strip-shaped magnetic stripe sensor (501), and L is the distance between the middle positions of a group of relative strip-shaped magnetic stripe sensors (501).

Images