Vehicle track correction method and device based on magnetic navigation, vehicle and medium

Abstract

The invention relates to the technical field of guide vehicles of magnetic navigation, and discloses a vehicle track deviation rectifying method and device based on magnetic navigation, a vehicle and a medium. A quadrilateral magnetic navigation sensor is installed at the center position of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor and the center line of a magnetic strip intersect at two points; acquiring the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, judging whether the magnetic stripe is located in a preset non-deviation-correction area based on the intersection position, if the magnetic stripe is not located in the preset non-deviation-correction area, calculating a deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position, and finally determining the deviation of the quadrilateral magnetic navigation sensor based on the deviation result. According to the method, track deviation correction operation is conducted on the vehicle, automatic real-time deviation correction of the vehicle under the magnetic navigation condition is achieved, the problem that the vehicle is derailed under driving of double steering wheels is solved, then the overall working efficiency is improved, and the operation safety risk is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic navigation guided vehicles, and in particular to a vehicle track deviation correction method, device, vehicle and medium based on magnetic navigation. Background Art

[0002] The Automated Guided Vehicle (AGV) vehicle is based on the magnetic stripe navigation technology. The magnetic stripe contains magnetic materials inside, which will generate a certain magnetic field. The AGV vehicle senses the magnetic field through the installed magnet sensor head, so that it can accurately follow the movement of the magnetic stripe. However, in the actual working environment, the magnetic stripe navigation AGV vehicle may be affected by environmental interference or magnetic stripe wear. For example, the magnetic stripe may wear out during use, resulting in unstable navigation signals, or the magnetic stripe may be interfered by the magnetic field, resulting in changes in the signal output of the AGV navigation sensor, causing the AGV vehicle to deviate from the track or even derail, reducing overall work efficiency and increasing operational safety risks. Summary of the invention

[0003] In view of this, the present invention provides a vehicle trajectory correction method, device, vehicle and medium based on magnetic navigation to solve the problem that the magnetic stripe navigation AGV may be affected by environmental interference or magnetic stripe wear, causing the AGV to deviate from the track or even derail, thereby reducing overall work efficiency and increasing operational safety risks.

[0004] In a first aspect, the present invention provides a vehicle trajectory correction method based on magnetic navigation, wherein a quadrilateral magnetic navigation sensor is installed at the center position of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic stripe at two points. The method comprises: obtaining the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position; if the magnetic stripe is not in the preset non-correction area, calculating the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position; and performing a trajectory correction operation on the vehicle based on the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0005] The vehicle track deviation correction method based on magnetic navigation provided by the present invention comprises a quadrilateral magnetic navigation sensor installed at the center position of the bottom of the vehicle, the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic stripe at two points, the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor is obtained, and based on the intersection position, it is judged whether the magnetic stripe is in a preset non-correction area; if the magnetic stripe is not in the preset non-correction area, the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated based on the intersection position, and finally, based on the deviation result, the track deviation correction operation is performed on the vehicle, so as to realize automatic real-time deviation correction of the vehicle under magnetic navigation conditions, solve the problem of vehicle derailment under dual steering wheel drive, thereby improving the overall work efficiency and reducing the safety risk of operation.

[0006] In an optional embodiment, the judging whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: based on the intersection point where the center line of the magnetic stripe intersects with the first side of the quadrilateral magnetic navigation sensor, calculating the distances between the intersection point and the two endpoints of the first side respectively to obtain a first distance and a second distance; calculating the difference between the first distance and the second distance to obtain a distance difference, and judging whether the absolute value of the distance difference is less than a preset distance difference threshold; if the absolute value of the distance difference is less than the preset distance difference threshold, determining that the magnetic stripe is in a preset non-correction area.

[0007] The present invention calculates the intersection point of the center line of the magnetic stripe and the first side of the quadrilateral magnetic navigation sensor, and then calculates the first distance and the second distance of the intersection point for the two end points of the first side, and accurately determines whether the magnetic stripe is in a non-correction area based on the distance difference.

[0008] In an optional embodiment, the deviation result includes at least a deviation angle and a deviation direction, and the calculation of the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position includes: based on a first intersection point where the centerline of the magnetic stripe intersects the first side of the quadrilateral magnetic navigation sensor, calculating the distance between the first intersection point and any end point of the first side to obtain a first distance; based on a second intersection point where the centerline of the magnetic stripe intersects the second side of the quadrilateral magnetic navigation sensor, calculating the distance between the second intersection point and any end point of the second side to obtain a second distance; calculating the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the first distance and the second distance; and determining the deviation direction of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the deviation angle.

[0009] The present invention is based on the distance determined by the intersection points of the center line of the magnetic stripe and the two sides of the quadrilateral magnetic navigation, and based on the distance, uses mathematical algorithms and trigonometric functions to accurately calculate the deviation angles of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0010] In an optional embodiment, the quadrilateral magnetic navigation sensor is a rectangular navigation sensor, and the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated based on the first distance and the second distance, including: if the magnetic stripe intersects with two adjacent sides of the quadrilateral magnetic navigation sensor, then dividing the first distance and the second distance to obtain a first ratio, the first distance being the distance between the first intersection point and the common endpoint of the first side and the second side, and the second distance being the distance between the second intersection point and the common endpoint of the first side and the second side; based on the first ratio, determining the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor using a trigonometric function algorithm.

[0011] In an optional embodiment, the quadrilateral magnetic navigation sensor is a rectangular navigation sensor, and the calculation of the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the first distance and the second distance includes: if the magnetic stripe intersects with two opposite sides of the quadrilateral magnetic navigation sensor, subtracting the first distance and the second distance to obtain a difference, the first distance being the distance between the first intersection point and the first endpoint of the first side, the second distance being the distance between the second intersection point and the second endpoint of the second side, and the first endpoint and the second endpoint being on the same side of the magnetic stripe; dividing the difference by the length of another side of the quadrilateral magnetic navigation sensor except the two sides intersecting with the magnetic stripe to obtain a second ratio; and determining the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the second ratio using a trigonometric function algorithm.

[0012] The present invention calculates the deviation angle based on the intersection state of the magnetic strip and the quadrilateral magnetic navigation sensor and utilizes different corresponding deviation angle calculation methods, thereby improving the accuracy of calculating the deviation angle.

[0013] In an optional embodiment, before calculating the deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position, the method also includes: if it is detected that both sides of the magnetic stripe do not intersect with the quadrilateral magnetic navigation sensor, sending a prompt message of vehicle derailment to the user; and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: if it is detected that both sides of the magnetic stripe intersect with the quadrilateral magnetic navigation sensor, judging whether the magnetic stripe is in a preset non-correction area based on the intersection position.

[0014] The present invention pre-determines whether the two sides of the magnetic strip intersect with the quadrilateral magnetic navigation sensor. If they do not intersect, it indicates that the vehicle is derailed. There is no need to perform subsequent operations to determine whether the magnetic strip is in a non-correction area. Manual adjustments can be made directly by staff, which saves work efficiency and can solve the problem of vehicle derailment in a timely manner.

[0015] In the second aspect, the present invention provides a vehicle trajectory correction device based on magnetic navigation, wherein a quadrilateral magnetic navigation sensor is installed at the center position of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic stripe at two points. The device includes: a magnetic stripe position acquisition module, used to obtain the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, and judge whether the magnetic stripe is in a preset non-correction area based on the intersection position; a vehicle deviation determination module, used to calculate the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position if the magnetic stripe is not in the preset non-correction area; a vehicle correction module, used to perform trajectory correction operation on the vehicle based on the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0016] In a third aspect, the present invention provides a vehicle, comprising a quadrilateral magnetic navigation sensor and a controller, wherein the controller comprises: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the vehicle trajectory correction method based on magnetic navigation according to the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0017] In an optional embodiment, the vehicle is an AGV vehicle.

[0018] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the vehicle trajectory correction method based on magnetic navigation according to the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 is a flow chart of a vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention;

[0021] Figure 2 is a flow chart of another vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention;

[0022] Figure 3 is an exemplary diagram of a non-correction area according to an embodiment of the present invention;

[0023] Figure 4 is a flow chart of another vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention;

[0024] Figure 5 is an example diagram of a magnetic stripe intersecting two adjacent sides of a quadrilateral magnetic navigation sensor according to an embodiment of the present invention;

[0025] Figure 6 is an exemplary diagram of a magnetic stripe intersecting two opposite sides of a quadrilateral magnetic navigation sensor according to an embodiment of the present invention;

[0026] Figure 7 is an example diagram of a vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention;

[0027] Figure 8is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0028] Fig. 9 is a structural block diagram of a vehicle trajectory correction device based on magnetic navigation according to an embodiment of the present invention;

[0029] Fig.10 Schematic diagram of the hardware structure of the controller according to the embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0031] According to an embodiment of the present invention, an embodiment of a vehicle trajectory correction method based on magnetic navigation is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] In this embodiment, a vehicle trajectory correction method based on magnetic navigation is provided, which can be used for a vehicle controller, wherein a quadrilateral magnetic navigation sensor is installed at the center of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor is compared with the center line of the magnetic stripe at two points. The embodiment of the present invention does not limit the shape of the quadrilateral magnetic navigation sensor, which can be a rhombus, a parallelogram and a rectangle. The quadrilateral magnetic navigation sensor is covered with magnetic stripe sensing points, and a card reader is installed inside the sensor. Once a magnetic stripe crosses the quadrilateral magnetic navigation sensor, since the magnetic stripe has a certain width, it can be identified on the quadrilateral magnetic navigation sensor that a certain area is triggered by the magnetic stripe. To facilitate the subsequent calculation of the deviation, the center line of the magnetic stripe can be taken as a factor for the subsequent calculation of the deviation, and then the quadrilateral magnetic navigation sensor can be installed to the center position of the axisymmetric bottom of the vehicle, which makes it easier for the vehicle to read the card and rotate to change lanes.

[0033] Among them, generally there will be no intersection, one intersection and two intersections between the magnetic stripe and the quadrilateral magnetic navigation sensor. However, only when there are two intersections can it be considered that the quadrilateral magnetic navigation sensor has successfully recognized the magnetic stripe. Therefore, before starting the vehicle, the vehicle position can be manually adjusted to put the vehicle in a preset track (try to ensure that the magnetic stripe is in the non-correction area of ​​the quadrilateral magnetic navigation sensor). The quadrilateral magnetic navigation sensor recognizes the magnetic stripe and determines whether the center of the magnetic stripe and the quadrilateral magnetic navigation sensor intersect at two points. If they do not intersect at two points, the vehicle position can continue to be adjusted until the magnetic stripe and the quadrilateral magnetic navigation sensor intersect at two points.

[0034] Figure 1 is a flow chart of a vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention, such as Figure 1 As shown, the process includes the following steps:

[0035] Step S101, obtaining the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position.

[0036] The embodiments of the present invention do not limit the manner of setting the non-correction area. For example, the non-correction area can be formed by extending a certain distance to both sides from the center line of the quadrilateral magnetic navigation sensor in advance to ensure that the magnetic strip always remains in the center position of the quadrilateral magnetic navigation sensor, i.e., the vehicle. As an example only, the intersection position of the center of the magnetic stripe and the quadrilateral magnetic navigation sensor is obtained, and it can be determined whether the two intersection points of the center of the magnetic stripe and the quadrilateral magnetic navigation sensor are within the preset non-correction area. Only when both intersection points are within the preset non-correction area, it is determined that the magnetic stripe is within the non-correction area. This is only an example.

[0037] Step S102: If the magnetic stripe is not in the preset non-correction area, the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated based on the intersection position.

[0038] The embodiment of the present invention does not limit the content of the calculated deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor, which may include the deviation angle and the deviation direction. If it is determined that at least one intersection point of the magnetic stripe center and the quadrilateral magnetic navigation sensor is not in the preset non-correction area, it is determined that the magnetic stripe is not in the preset non-correction area, because the lengths of the four sides of the quadrilateral magnetic navigation sensor are known, and the intersection point of the magnetic stripe center and the quadrilateral magnetic navigation sensor can also be read to a specific position. Therefore, after obtaining the two intersection points of the magnetic stripe center and the quadrilateral magnetic navigation sensor, the lengths of the two line segments after one side is segmented by the intersection point can be known. Then, according to mathematical algorithms and trigonometric functions, the angle of the intersecting sides of the magnetic stripe can be calculated as the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0039] The method for determining the deviation direction of the magnetic stripe and the quadrilateral magnetic navigation sensor in an embodiment of the present invention can be to obtain the intersection point of the magnetic stripe and the edge of the quadrilateral magnetic navigation sensor closest to the vehicle head, then obtain the intersection point of the magnetic stripe and the other edge, and connect the two intersection points. The direction of the connection line is the deviation direction of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0040] Step S103, based on the deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor, a trajectory correction operation is performed on the vehicle.

[0041] The vehicle involved in the embodiment of the present invention mainly relies on the action of driving wheels and driven wheels to achieve movement, wherein the driving wheels are used to control the vehicle's movement path. After determining the deviation results of the magnetic strip and the quadrilateral magnetic navigation sensor, the vehicle's trajectory correction can be completed by controlling the angular velocity and linear velocity of the driving wheels, i.e., the steering wheel, as an example only.

[0042] The vehicle trajectory correction method based on magnetic navigation provided in this embodiment is characterized in that a quadrilateral magnetic navigation sensor is installed at the center position of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic stripe at two points. The intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor is obtained, and based on the intersection position, it is judged whether the magnetic stripe is in a preset non-correction area. If the magnetic stripe is not in the preset non-correction area, the deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor are calculated based on the intersection position. Finally, based on the deviation result, the vehicle is subjected to trajectory correction operation to realize automatic real-time correction of the vehicle under magnetic navigation conditions, thereby solving the problem of vehicle derailment under dual steering wheel drive, thereby improving overall work efficiency and reducing operational safety risks.

[0043] In this embodiment, a vehicle trajectory correction method based on magnetic navigation is provided, which can be used for a controller in a vehicle. A quadrilateral magnetic navigation sensor is installed at the center of the bottom of the vehicle. The quadrilateral magnetic navigation sensor intersects with the center line of the magnetic strip at two points. Figure 2 is a flow chart of a vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention, such as Figure 2 As shown, the process includes the following steps:

[0044] Step S201, obtaining the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position.

[0045] Specifically, the above step S201 includes:

[0046] Step S2011, based on the intersection point where the center line of the magnetic stripe intersects with the first side of the quadrilateral magnetic navigation sensor, calculate the distances between the intersection point and the two end points of the first side to obtain a first distance and a second distance.

[0047] Step S2012: Calculate the difference between the first distance and the second distance to obtain a distance difference, and determine whether the absolute value of the distance difference is less than a preset distance difference threshold.

[0048] Step S2013: if the absolute value of the distance difference is less than a preset distance difference threshold, it is determined that the magnetic stripe is in a preset non-correction area.

[0049] like Figure 3 As shown, taking a rectangular magnetic navigation sensor as an example, the two side lengths X and Y of the rectangular magnetic navigation sensor are known. Based on the intersection point where the center line of the magnetic stripe intersects with the first side of the rectangular navigation sensor, the distances between the intersection point and the two end points of the first side are calculated to obtain the first distance and the second distance, that is, the first distance corresponding to the intersection point on the X side is a, and the second distance is Xa. Then, the difference between the first distance and the second distance can be calculated to obtain the distance difference, and then it is determined whether the absolute value of the distance difference is less than the preset distance difference threshold A, that is, whether |Xaa| is less than A, wherein A can be set according to the actual vehicle operation requirements. For example, if the operation is performed in a task with strict trajectory requirements, a smaller distance difference threshold can be set, which is only used as an example; if |Xaa|<A, it means that the magnetic stripe is in the preset non-correction area. At this time, the steering wheel angle of the vehicle remains unchanged, and the linear speed is the running value, that is, no correction action occurs when the vehicle is traveling straight; if |Xaa|≥A, it is determined that the magnetic stripe is in the preset non-correction area, and the vehicle trajectory correction operation can be performed.

[0050] The embodiment of the present invention calculates the intersection point of the center line of the magnetic stripe and the first side of the quadrilateral magnetic navigation sensor, and then calculates the first distance and the second distance between the intersection point and the two end points of the first side, and accurately determines whether the magnetic stripe is in a non-correction area based on the distance difference.

[0051] In an optional embodiment, before calculating the deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position, if it is detected that the two sides of the magnetic stripe do not intersect with the quadrilateral magnetic navigation sensor, a prompt message of vehicle derailment is sent to the user; and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: if it is detected that the two sides of the magnetic stripe intersect with the quadrilateral magnetic navigation sensor, judging whether the magnetic stripe is in a preset non-correction area based on the intersection position.

[0052] The embodiment of the present invention can detect whether the two sides of the magnetic stripe intersect with the quadrilateral magnetic navigation sensor. If the two sides of the magnetic stripe do not intersect with the quadrilateral magnetic navigation sensor, it indicates that the vehicle is derailed. Then, a prompt message of the vehicle derailment can be sent to the staff so that the staff can manually adjust the vehicle position to ensure that the magnetic stripe is in the non-correction area of ​​the quadrilateral magnetic navigation sensor. If it is determined that the two sides of the magnetic stripe intersect with the quadrilateral magnetic navigation sensor, it can be judged whether the magnetic stripe is in the preset non-correction area based on the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0053] The present invention pre-determines whether the two sides of the magnetic strip intersect with the quadrilateral magnetic navigation sensor. If they do not intersect, it indicates that the vehicle is derailed. There is no need to perform subsequent operations to determine whether the magnetic strip is in a non-correction area. Manual adjustments can be made directly by staff, which saves work efficiency and can solve the problem of vehicle derailment in a timely manner.

[0054] Step S202: If the magnetic stripe is not in the preset non-correction area, the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated based on the intersection position. Figure 1 Step S102 of the illustrated embodiment will not be described in detail here.

[0055] Step S203: Based on the deviation results of the magnetic stripe and quadrilateral magnetic navigation sensor, the vehicle is corrected. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0056] In this embodiment, a vehicle trajectory correction method based on magnetic navigation is provided, which can be used in a vehicle controller. Figure 4 is a flow chart of a vehicle trajectory correction method based on magnetic navigation according to an embodiment of the present invention, such as Figure 4 As shown, the process includes the following steps:

[0057] Step S401, obtain the intersection position of the magnetic stripe centerline and the quadrilateral magnetic navigation sensor, and determine whether the magnetic stripe is in a preset non-correction area based on the intersection position. Figure 2 Step S201 of the illustrated embodiment will not be described in detail here.

[0058] Step S402: If the magnetic stripe is not in the preset non-correction area, the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated based on the intersection position.

[0059] Specifically, the above step S402 includes:

[0060] Step S4021, based on a first intersection point where the center line of the magnetic stripe intersects with a first side of the quadrilateral magnetic navigation sensor, calculate a distance between the first intersection point and any end point of the first side to obtain a first distance.

[0061] Step S4022: Based on a second intersection point where the center line of the magnetic stripe intersects with a second side of the quadrilateral magnetic navigation sensor, calculate a distance between the second intersection point and any end point of the second side to obtain a second distance.

[0062] Step S4023: Calculate the deviation angles of the magnetic stripe and quadrilateral magnetic navigation sensors based on the first distance and the second distance.

[0063] Step S4024, determining the deviation direction of the magnetic stripe and quadrilateral magnetic navigation sensor based on the deviation angle.

[0064] The center line of the magnetic stripe in the embodiment of the present invention intersects with two sides of the quadrilateral magnetic navigation sensor. Based on a first intersection point where the center line of the magnetic stripe intersects with the first side of the quadrilateral magnetic navigation sensor, the distance between the first intersection point and any end point of the first side can be calculated to obtain a first distance. Based on a second intersection point where the center line of the magnetic stripe intersects with the second side of the quadrilateral magnetic navigation sensor, the distance between the second intersection point and any end point of the second side can be calculated to obtain a second distance. Based on the first distance and the second distance, the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor can be calculated using a mathematical algorithm and trigonometric functions. Based on the comparison between the deviation angle and the 90° angle, the deviation direction of the magnetic stripe and the quadrilateral magnetic navigation sensor can be determined.

[0065] The present invention is based on the distance determined by the intersection points of the center line of the magnetic stripe and the two sides of the quadrilateral magnetic navigation, and based on the distance, uses mathematical algorithms and trigonometric functions to accurately calculate the deviation angles of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0066] Specifically, the quadrilateral magnetic navigation sensor is a rectangular navigation sensor. If the magnetic stripe intersects with two adjacent sides of the quadrilateral magnetic navigation sensor, the first distance and the second distance are divided to obtain a first ratio, where the first distance is the distance between the first intersection point and the common endpoint of the first side and the second side, and the second distance is the distance between the second intersection point and the common endpoint of the first side and the second side. Based on the first ratio, the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor is determined using a trigonometric function algorithm.

[0067] like Figure 5 As shown, the quadrilateral magnetic navigation sensor of the embodiment of the present invention is a rectangular magnetic navigation sensor, and the sensor is covered with magnetic stripe sensing points. The magnetic stripe intersects with two adjacent sides of the quadrilateral magnetic navigation sensor, and the distance between the first intersection point and the common endpoint of the first side and the second side is determined as the first distance a, and the distance between the second intersection point and the common endpoint of the first side and the second side is calculated as the second distance b. Then, the deviation angle between the magnetic stripe and the quadrilateral magnetic navigation sensor can be calculated using the following formula:

[0068] cotθ=a\b

[0069] Among them, θ represents the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor. The angle between the vehicle and the direction of the magnetic stripe can be calculated by |90-θ|, and then the vehicle's trajectory can be corrected.

[0070] Specifically, if the magnetic stripe intersects with two opposite sides of the quadrilateral magnetic navigation sensor, the first distance is subtracted from the second distance to obtain a difference, where the first distance is the distance between the first intersection point and the first endpoint of the first side, and the second distance is the distance between the second intersection point and the second endpoint of the second side, and the first endpoint and the second endpoint are on the same side of the magnetic stripe; the difference is divided by the length of another side of the quadrilateral magnetic navigation sensor except the two sides intersecting with the magnetic stripe to obtain a second ratio; based on the second ratio, the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor is determined using a trigonometric function algorithm.

[0071] like Figure 6 As shown, the magnetic stripe intersects with two opposite sides of the quadrilateral magnetic navigation sensor. The first endpoint of the first side and the second endpoint of the second side can be set on the same side of the magnetic stripe, and then the distance between the first intersection point and the first endpoint of the first side is calculated as the first distance a, and then the distance between the second intersection point and the second endpoint of the second side is calculated as the second distance b. Then, the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor can be calculated using the following formula:

[0072] cotθ=(ab)\Y

[0073] Among them, θ represents the deviation angle between the magnetic stripe and the quadrilateral magnetic navigation sensor, Y represents the length of the other side of the quadrilateral magnetic navigation sensor except the two sides intersecting with the magnetic stripe, and then the angle between the vehicle and the direction of the magnetic stripe can be calculated by |90-θ|, and then the vehicle's trajectory can be corrected.

[0074] The present invention calculates the deviation angle based on the intersection state of the magnetic strip and the quadrilateral magnetic navigation sensor and utilizes different corresponding deviation angle calculation methods, thereby improving the accuracy of calculating the deviation angle.

[0075] In a specific embodiment, Figure 7 As shown, the vehicle of the embodiment of the present invention is an AGV vehicle. After the AGV is started, it tracks and runs. The quadrilateral magnetic navigation sensor installed at the center of the bottom of the AGV intersects with the magnetic stripe. The decoder in the quadrilateral magnetic navigation sensor reads the magnetic stripe deviation data to determine whether the sensor can detect both sides of the magnetic stripe. If the sensor cannot detect both sides of the magnetic stripe, it means that the magnetic stripe is derailed, and the staff needs to be prompted to manually adjust the AGV position. If the magnetic stripe can be detected on both sides, the magnetic stripe deviation data read by the navigation sensor can be substituted into the formula for calculating the magnetic stripe deviation angle to obtain the magnetic stripe deviation angle. Finally, the track correction can be completed by controlling the steering wheel angular velocity and linear velocity in the AGV. Please refer to the above embodiment for detailed description, which will not be repeated here.

[0076] In this embodiment, a vehicle is also provided. Figure 8 As shown, the vehicle of the embodiment of the present invention includes a quadrilateral magnetic navigation sensor and a controller. Specifically, the vehicle is an AGV vehicle.

[0077] In this embodiment, a vehicle trajectory correction device based on magnetic navigation is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0078] This embodiment provides a vehicle trajectory correction device based on magnetic navigation. A quadrilateral magnetic navigation sensor is installed at the center of the bottom of the vehicle. The quadrilateral magnetic navigation sensor intersects with the center line of the magnetic strip at two points, such as Fig. 9 As shown, it includes: a magnetic stripe position acquisition module 901, which is used to obtain the intersection position of the magnetic stripe center line and the quadrilateral magnetic navigation sensor, and judge whether the magnetic stripe is in a preset non-correction area based on the intersection position; a vehicle deviation determination module 902, which is used to calculate the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position if the magnetic stripe is not in the preset non-correction area; a vehicle deviation correction module 903, which is used to perform trajectory correction operation on the vehicle based on the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor.

[0079] In some optional embodiments, the magnetic stripe position acquisition module 901 includes: a distance calculation unit, which is used to calculate the distances between the intersection point and the two endpoints of the first side based on the intersection point where the center line of the magnetic stripe intersects the first side of the quadrilateral magnetic navigation sensor, to obtain a first distance and a second distance; a distance difference calculation unit, which is used to calculate the difference between the first distance and the second distance, to obtain the distance difference, and to determine whether the absolute value of the distance difference is less than a preset distance difference threshold; and an area determination unit, which is used to determine that the magnetic stripe is in a preset non-correction area if the absolute value of the distance difference is less than a preset distance difference threshold.

[0080] In some optional embodiments, the deviation result includes at least a deviation angle and a deviation direction, and the vehicle deviation determination module 902 includes: a first distance calculation unit, used to calculate the distance between the first intersection point and any end point of the first side of the quadrilateral magnetic navigation sensor based on the first intersection point where the center line of the magnetic stripe intersects the first side, so as to obtain a first distance; a second distance calculation unit, used to calculate the distance between the second intersection point and any end point of the second side of the quadrilateral magnetic navigation sensor based on the second intersection point where the center line of the magnetic stripe intersects the second side of the quadrilateral magnetic navigation sensor, so as to obtain a second distance; a deviation angle calculation unit, used to calculate the deviation angle of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the first distance and the second distance; and a deviation direction calculation unit, used to determine the deviation direction of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the deviation angle.

[0081] In some optional embodiments, the deviation angle calculation unit includes: a first ratio calculation subunit, used to divide the first distance and the second distance to obtain a first ratio if the magnetic strip intersects with two adjacent sides of the quadrilateral magnetic navigation sensor, the first distance being the distance between the first intersection point and the common endpoint of the first side and the second side, and the second distance being the distance between the second intersection point and the common endpoint of the first side and the second side; a deviation angle calculation unit, used to determine the deviation angle of the magnetic strip and the quadrilateral magnetic navigation sensor based on the first ratio using a trigonometric function algorithm.

[0082] In some optional embodiments, the deviation angle calculation unit includes: a difference calculation subunit, which is used to subtract the first distance and the second distance to obtain a difference if the magnetic strip intersects with two opposite sides of the quadrilateral magnetic navigation sensor, wherein the first distance is the distance between the first intersection point and the first endpoint of the first side, and the second distance is the distance between the second intersection point and the second endpoint of the second side, and the first endpoint and the second endpoint are on the same side of the magnetic strip; a second ratio calculation subunit, which is used to divide the difference by the length of another side of the quadrilateral magnetic navigation sensor except the two sides intersecting with the magnetic strip, to obtain a second ratio; and a deviation angle calculation unit, which is used to determine the deviation angle of the magnetic strip and the quadrilateral magnetic navigation sensor based on the second ratio using a trigonometric function algorithm.

[0083] In some optional embodiments, before calculating the deviation results of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position, the vehicle trajectory correction device based on magnetic navigation includes: a derailment prompt module, which is used to send a vehicle derailment prompt message to the user if it is detected that the two sides of the magnetic stripe do not intersect with the quadrilateral magnetic navigation sensor; and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: a magnetic stripe correction judgment module, which is used to judge whether the magnetic stripe is in a preset non-correction area based on the intersection position if it is detected that the two sides of the magnetic stripe intersect with the quadrilateral magnetic navigation sensor.

[0084] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0085] The vehicle trajectory correction device based on magnetic navigation in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0086] The embodiment of the present invention further provides a controller having the above Fig. 9 The vehicle trajectory correction device based on magnetic navigation is shown.

[0087] See also Fig.10 , Fig.10 is a schematic diagram of the structure of a controller provided by an optional embodiment of the present invention, such as Fig.10 As shown, the controller includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the controller, including instructions stored in or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple controllers can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.10 A processor 10 is taken as an example.

[0088] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0089] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0090] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required by at least one function; the data storage area may store data created according to the use of the controller, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0091] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0092] The controller also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Fig.10 The example of connecting through bus is taken in the following.

[0093] The input device 30 can receive input digital or character information and generate key signal input related to the user settings and function control of the controller, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0094] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0095] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A vehicle trajectory correction method based on magnetic navigation, characterized in that: A quadrilateral magnetic navigation sensor is installed at the center of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic strip at two points. The method includes: Obtaining the intersection position of the center line of the magnetic stripe and the quadrilateral magnetic navigation sensor, and judging whether the magnetic stripe is in a preset non-correction area based on the intersection position; If the magnetic stripe is not in the preset non-correction area, then based on the intersection position, the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor is calculated; Based on the deviation results of the magnetic strip and the quadrilateral magnetic navigation sensor, a trajectory correction operation is performed on the vehicle.

2. The method according to claim 1, characterized in that The determining whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: Based on the intersection point where the center line of the magnetic strip intersects with the first side of the quadrilateral magnetic navigation sensor, the distances between the intersection point and the two end points of the first side are calculated to obtain a first distance and a second distance; Calculating a difference between the first distance and the second distance to obtain a distance difference, and determining whether an absolute value of the distance difference is less than a preset distance difference threshold; If the absolute value of the distance difference is less than a preset distance difference threshold, it is determined that the magnetic stripe is in a preset non-correction area.

3. The method according to claim 1, characterized in that The deviation result at least includes a deviation angle and a deviation direction. The calculation of the deviation result of the magnetic stripe and the quadrilateral magnetic navigation sensor based on the intersection position includes: Based on a first intersection point where the center line of the magnetic strip intersects with a first side of the quadrilateral magnetic navigation sensor, a distance between the first intersection point and any end point of the first side is calculated to obtain a first distance; Based on a second intersection point where the center line of the magnetic strip intersects with the second side of the quadrilateral magnetic navigation sensor, calculating a distance between the second intersection point and any end point of the second side to obtain a second distance; Calculating the deviation angles of the magnetic stripe and quadrilateral magnetic navigation sensors based on the first distance and the second distance; The deviation direction of the magnetic stripe and quadrilateral magnetic navigation sensor is determined based on the deviation angle.

4. The method according to claim 3, characterized in that The quadrilateral magnetic navigation sensor is a rectangular navigation sensor, and the calculation of the deviation result between the magnetic strip and the quadrilateral magnetic navigation sensor based on the first distance and the second distance includes: If the magnetic strip intersects two adjacent sides of the quadrilateral magnetic navigation sensor, the first distance is divided by the second distance to obtain a first ratio, wherein the first distance is the distance between the first intersection point and the common endpoint of the first side and the second side, and the second distance is the distance between the second intersection point and the common endpoint of the first side and the second side; Based on the first ratio, the deviation angles of the magnetic stripe and quadrilateral magnetic navigation sensors are determined using a trigonometric function algorithm.

5. The method according to claim 3, characterized in that: The quadrilateral magnetic navigation sensor is a rectangular navigation sensor, and the calculation of the deviation result between the magnetic strip and the quadrilateral magnetic navigation sensor based on the first distance and the second distance includes: If the magnetic strip intersects two opposite sides of the quadrilateral magnetic navigation sensor, a first distance is subtracted from a second distance to obtain a difference value, wherein the first distance is the distance between the first intersection point and the first endpoint of the first side, and the second distance is the distance between the second intersection point and the second endpoint of the second side, and the first endpoint and the second endpoint are on the same side of the magnetic strip; Dividing the difference by the length of another side of the quadrilateral magnetic navigation sensor except the two sides intersecting with the magnetic stripe, to obtain a second ratio; Based on the second ratio, the deviation angles of the magnetic stripe and quadrilateral magnetic navigation sensors are determined using a trigonometric function algorithm.

6. The method according to claim 1, characterized in that Before calculating the deviation results of the magnetic stripe and quadrilateral magnetic navigation sensors based on the intersection position, the method further includes: If it is detected that the two sides of the magnetic strip do not intersect with the quadrilateral magnetic navigation sensor, a vehicle derailment prompt message is sent to the user; and Judging whether the magnetic stripe is in a preset non-correction area based on the intersection position includes: If it is detected that two sides of the magnetic strip intersect with the quadrilateral magnetic navigation sensor, it is determined whether the magnetic strip is in a preset non-correction area based on the intersection position.

7. A vehicle trajectory correction device based on magnetic navigation, characterized in that: A quadrilateral magnetic navigation sensor is installed at the center of the bottom of the vehicle, and the quadrilateral magnetic navigation sensor intersects with the center line of the magnetic strip at two points. The device includes: A magnetic stripe position acquisition module, used to acquire the intersection position of the magnetic stripe centerline and the quadrilateral magnetic navigation sensor, and determine whether the magnetic stripe is in a preset non-correction area based on the intersection position; A vehicle deviation determination module, for calculating the deviation result of the magnetic strip and the quadrilateral magnetic navigation sensor based on the intersection position if the magnetic strip is not in a preset non-correction area; The vehicle deviation correction module is used to perform a trajectory deviation correction operation on the vehicle based on the deviation results of the magnetic strip and the quadrilateral magnetic navigation sensor.

8. A vehicle, characterized in that: The vehicle includes a quadrilateral magnetic navigation sensor and a controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the vehicle trajectory correction method based on magnetic navigation as described in any one of claims 1 to 6 by executing the computer instructions.

9. The vehicle according to claim 8, characterized in that The vehicle is an AGV vehicle.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the vehicle trajectory correction method based on magnetic navigation as described in any one of claims 1 to 6.

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