Robot magnetic navigation magnetic stripe paving method

Abstract

The invention relates to the technical field of robot magnetic navigation, and discloses a robot magnetic navigation magnetic stripe paving method which comprises the following steps: forming a groove along the ground; pre-grouting mortar is injected into the groove, and the magnetic strip mounting profile is embedded into the groove after grouting; the groove is filled with mortar and vibrated, and moisturizing and curing are conducted; and the magnetic strip is arranged in the magnetic strip mounting profile. The magnetic strip installation profile comprises a profile body, the top of the profile body is provided with an upper opening, and a containing cavity communicated with the upper opening is defined in the profile body; the mounting seat is arranged in the accommodating cavity and is used for mounting a magnetic strip; the flat sealing top seat is arranged on the upper opening, and the top of the magnetic strip is arranged in the flat sealing top seat. The magnetic stripe can be protected from being rolled and abraded by a vehicle and is not influenced by water vapor and oil dirt on the ground, the laying path of the magnetic stripe does not need to be recalibrated when the magnetic stripe is replaced, the straightness and the levelness of the magnetic stripe can be ensured, and the navigation precision is further improved.

Description

Technical Field

[0001] This invention relates to the field of robot magnetic navigation technology, and in particular to a method for laying magnetic strips for robot magnetic navigation. Background Technology

[0002] Magnetic navigation is an automatic guidance technology based on magnetic materials. A common method is to lay magnetic strips on a preset path on the ground and use magnetic sensors mounted on the robot body to detect changes in the magnetic field strength above the magnetic strips, guiding the robot to travel along a fixed path.

[0003] Existing magnetic strip installation methods are mostly surface-adhesive, where the magnetic strip is directly pasted onto the ground. Because exposed magnetic strips are easily worn down by vehicles and affected by ground moisture and oil, they may be damaged or detached, thus affecting navigation accuracy. Current technologies incorporate various protective measures for ground-adhesive magnetic strips. Patent CN207923143U describes an AGV navigation magnetic strip with a protective layer set within a groove on the magnetic strip body. This wear-resistant protective layer wraps around the magnetic strip on three sides, preventing wear or damage. Patent CN207423208U describes a method of protecting the magnetic strip by covering its sides and top with pressure-resistant bands.

[0004] The aforementioned existing technologies all fix the magnetic strip to the ground by adhesive. Although protective measures are taken for the magnetic strip to reduce wear to some extent, the following problems still exist:

[0005] On the one hand, it has poor adaptability to the ground, such as not being suitable for uneven cement roads with potholes. On the other hand, the back of the magnetic strip is glued to the ground, making it difficult to guarantee that the magnetic strip and its protective layer will not detach, break or shift when subjected to the torsion and crushing of trucks and forklifts.

[0006] On the other hand, it is difficult to maintain. When replacing the magnetic strip, it needs to be completely removed from the ground, and the laying path of the magnetic strip needs to be recalibrated after replacement, which is complicated. In addition, during the manual laying of magnetic strips, especially during the laying of long-distance magnetic strips, it is difficult to ensure the straightness and levelness of the magnetic strips on the laying path, which in turn affects the accuracy of robot operation.

[0007] Therefore, how to effectively protect magnetic strips, reduce the difficulty of replacing magnetic strips, and improve the accuracy of magnetic strip installation are problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to provide a method for laying magnetic strips for robot magnetic navigation, so as to solve the problems existing in the prior art.

[0009] To achieve the above objectives, the present invention provides a method for laying magnetic strips for robot magnetic navigation, comprising the following steps:

[0010] Create grooves along the ground;

[0011] Inject pre-grouting mortar into the groove, and then embed the magnetic strip mounting profile into the groove; fill the groove with mortar and vibrate it, and keep it moist and cured;

[0012] Insert the magnetic strip into the magnetic strip mounting profile.

[0013] Furthermore, the magnetic strip mounting profile includes:

[0014] The profile body has an upper opening at its top, and an internal cavity that communicates with the upper opening is defined inside;

[0015] A mounting base is disposed within the receiving cavity for inserting a magnetic strip;

[0016] A flat top seat is provided at the upper opening, and the top of the magnetic strip is inserted into the flat top seat;

[0017] The process of installing the magnetic strip into the magnetic strip mounting profile includes the following steps: inserting the magnetic strip into the mounting base, then inserting the flat top seat into the upper opening, and simultaneously inserting the top of the magnetic strip into the flat top seat.

[0018] Furthermore, the flat top seat is composed of a base plate and a left limiting rib plate and a right limiting rib plate installed under the base plate. The base plate is installed in the limiting groove at the opening on the longitudinal profile body.

[0019] The mounting base consists of a mounting base plate and left and right limiting plates set on the mounting base plate.

[0020] Furthermore, an expansion tube is provided at the bottom of the profile body, and the profile body is fixed in the groove by the expansion tube.

[0021] Furthermore, the magnetic strip mounting profile also includes:

[0022] The filling block has an installation groove at the bottom of the receiving cavity, an installation hole at the bottom of the installation groove, the expansion tube passes through the installation hole, and the filling block is placed in the installation groove.

[0023] The mounting base is disposed on the filling block;

[0024] After the moisturizing and curing process is completed, the profile body is fixed in the groove through the expansion tube, and the filling block and the mounting base are placed into the profile body in sequence.

[0025] Furthermore, the groove includes a longitudinal groove and a transverse groove, wherein the transverse groove is disposed perpendicular to the longitudinal groove;

[0026] The magnetic strip mounting profile includes a longitudinal profile and a transverse profile; the longitudinal profile is installed in the longitudinal groove, and the transverse profile is installed in the transverse groove;

[0027] Includes the following steps:

[0028] S1: A longitudinal groove is made along the ground longitudinally, and a transverse groove is made in a direction perpendicular to the longitudinal groove. The longitudinal groove and the transverse groove are connected. An RFID component mounting slot is made on the extension line of the transverse groove. The RFID component mounting slot is located on the side of the transverse groove away from the longitudinal groove.

[0029] S2: Inject pre-grouting mortar into the longitudinal groove, transverse groove and RFID component mounting slot. After grouting, embed the longitudinal profile into the longitudinal groove, embed the transverse profile into the transverse groove, and embed the RFID component shell into the RFID component mounting slot. Fill the longitudinal groove, transverse groove and RFID component mounting slot with mortar and vibrate to keep it moist and curing.

[0030] S3: Install the longitudinal magnetic strip into the longitudinal profile, install the transverse magnetic strip into the transverse profile, and install the RFID chip into the housing of the RFID component.

[0031] Furthermore, the longitudinal profile includes:

[0032] The longitudinal profile body has a first upper opening at its top and defines a first receiving cavity that communicates with the first upper opening inside.

[0033] The first polyurethane filler block is provided in the first mounting groove at the bottom of the first receiving cavity.

[0034] A first mounting base is disposed on the first polyurethane filling block for inserting a longitudinal magnetic strip;

[0035] A first flat top seat is provided at the first upper opening, and the top of the longitudinal magnetic strip is inserted into the first flat top seat;

[0036] In steps S2 and S3, after injecting pre-grouting mortar into the longitudinal groove, the longitudinal profile body is embedded into the longitudinal groove, the longitudinal magnetic strip is installed into the first mounting seat, and then the first flat top seat is installed into the first upper opening, while the top of the longitudinal magnetic strip is installed into the first flat top seat.

[0037] The bottom of the longitudinal profile body is provided with a first metal expansion tube. In step S2, the longitudinal profile body is fixed in the longitudinal groove by the first metal expansion tube.

[0038] The transverse profile includes:

[0039] The transverse profile body has a second upper opening at its top and defines a second receiving cavity that communicates with the second upper opening.

[0040] The second filling block is provided in the second mounting groove at the bottom of the second receiving cavity;

[0041] The second mounting base is disposed on the second filling block and is used to install the transverse magnetic strip and the filling strip. The transverse magnetic strip and the filling strip are connected. The filling strip is close to the longitudinal groove and the transverse magnetic strip is close to the RFID component mounting slot.

[0042] The second flat top seat is disposed at the second upper opening, and the top of the transverse magnetic strip and the top of the filler strip are inserted into the second flat top seat;

[0043] In steps S2 and S3, after injecting pre-grouting mortar into the transverse groove, the transverse profile body is embedded into the transverse groove, the transverse magnetic strip and polyurethane filler strip are installed into the second mounting base, and then the second flat top seat is installed into the second upper opening, while the top of the transverse magnetic strip and the top of the polyurethane filler strip are installed into the second flat top seat.

[0044] The bottom of the transverse profile body is provided with a second metal expansion tube. In step S2, the transverse profile body is fixed in the transverse groove by the second metal expansion tube.

[0045] Furthermore, the RFID component includes:

[0046] The outer casing is a tubular structure.

[0047] An inner tube is disposed within the outer shell, and an installation chamber is formed between the top of the inner tube and the inner sidewall of the outer shell, with an RFID chip disposed within the installation chamber;

[0048] The lower sealing plug is located at the bottom of the housing;

[0049] The upper sealing plug is located at the top of the housing.

[0050] Furthermore, in steps S2 and S3, after injecting pre-filled mortar into the RFID component mounting slot, the lower sealing plug is installed to the bottom of the housing, and the housing is embedded into the RFID component mounting slot.

[0051] After the moisturizing and maintenance is completed, the inner tube is inserted into the outer shell to form an installation chamber. Then, the RFID chip is inserted into the installation chamber, and the upper sealing plug is installed on the top of the outer shell. The upper and lower surfaces of the RFID chip are respectively connected to the upper sealing plug and the top of the inner tube.

[0052] Furthermore, it also includes a positioning fixture, which comprises:

[0053] Longitudinal magnetic track positioning fixture, the positioning body of the longitudinal magnetic track positioning fixture is set along the longitudinal length direction of the profile;

[0054] The transverse magnetic track positioning fixture consists of a longitudinal positioning module and a transverse positioning module that are perpendicular to each other. The longitudinal positioning module is set along the longitudinal length of the profile.

[0055] The RFID component positioning fixture is set along the length of the transverse profile, with one end abutting against the transverse positioning module and the other end extending outward;

[0056] An RFID positioning component is disposed at the other end of the RFID component positioning fixture;

[0057] In step S2, the longitudinal profile is embedded into the longitudinal groove, and the transverse profile is embedded into the transverse groove. The longitudinal and transverse profiles are positioned by the longitudinal and transverse magnetic rail positioning fixtures, respectively. The outer shell of the RFID component is embedded into the RFID component mounting slot, and the position of the outer shell is positioned by the RFID positioning component. The positioning fixture is removed after the moisturizing and curing is completed.

[0058] The present invention discloses the following technical effects:

[0059] 1. Embedding the magnetic strip into the longitudinal and transverse profiles can protect the magnetic strip from wear and tear caused by vehicles, as well as from ground moisture and oil, thereby ensuring navigation accuracy and extending the service life of the magnetic strip.

[0060] 2. After the longitudinal and transverse profiles are laid, the positions of the longitudinal and transverse magnetic strips are naturally positioned. Therefore, when it is necessary to replace the magnetic strips later, the old magnetic strips can be removed and new magnetic strips can be installed in the longitudinal and transverse profiles. There is no need to recalibrate the laying path of the magnetic strips, which can improve the efficiency of magnetic strip replacement and ensure the straightness and levelness of the magnetic strips.

[0061] 3. This solution is a high-precision magnetic stripe + RFID composite navigation system with a customized standardized construction process. This process not only ensures the rapid installation, convenient replacement and reliable protection of the magnetic stripe, but also designs a dedicated installation and protection scheme for the RFID chip, thereby ensuring the overall protection and long-term maintenance convenience of the entire navigation system from the source of construction. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 Layout diagram of longitudinal grooves, transverse grooves, and RFID component mounting slots;

[0064] Figure 2 This is a schematic diagram of a longitudinal profile structure;

[0065] Figure 3 This is a front view of a longitudinal profile.

[0066] Figure 4 This is a side view of a horizontal profile.

[0067] Figure 5 This is a schematic diagram of the RFID component structure;

[0068] Figure 6 This is a schematic diagram of the positioning fixture;

[0069] Figure 7 This is a schematic diagram of the first flat capping structure;

[0070] Figure 8 Schematic diagram of the positioning fixture for RFID components;

[0071] Figure 9 Schematic diagram of the longitudinal magnetic track positioning fixture structure;

[0072] The components are as follows: 1. Longitudinal groove; 2. Transverse groove; 3. RFID component mounting slot; 4. First metal expansion tube; 5. First filler block; 6. Longitudinal profile body; 7. Longitudinal magnetic strip; 8. First flat top seat; 81. First base plate; 82. First left limiting rib; 83. First right limiting rib; 84. Anti-detachment hook; 9. Second flat top seat; 10. Filler strip; 11. Transverse magnetic strip; 12. Transverse profile body; 13. Longitudinal magnetic rail positioning fixture; 131. First limiting step; 14. Transverse magnetic rail positioning fixture; 15. RFID component positioning fixture; 151. RFID positioning component; 16. Lower sealing plug; 17. Outer shell; 18. Inner tube body; 19. RFID chip; 20. Upper sealing plug; 21. First mounting seat; 22. Second mounting seat; 23. Second metal expansion tube; 24. Second filler block. Detailed Implementation

[0073] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0074] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0075] like Figures 1 to 9 As shown, this embodiment of the invention provides a method for laying magnetic strips for robot magnetic navigation, including the following steps:

[0076] S1: A longitudinal groove 1 is cut along the ground longitudinally using a cutting machine, and a transverse groove 2 is cut in a direction perpendicular to the longitudinal groove 1. The longitudinal groove 1 and the transverse groove 2 are connected. An RFID component mounting slot 3 is cut on the extension line of the transverse groove 2. The RFID component mounting slot 3 is located on the side of the transverse groove 2 away from the longitudinal groove 1. The longitudinal groove 1, the transverse groove 2, and the RFID component mounting slot 3 are cut in sequence. Debris and dust are removed using an electric pick to ensure that there are no foreign objects in the slots.

[0077] S2: Inject pre-grouting mortar into the longitudinal groove 1, transverse groove 2, and RFID component mounting groove 3. Simultaneously, apply masking tape to the outer surface of the longitudinal and transverse profiles to prevent mortar from seeping in. After grouting, embed the longitudinal profile into the longitudinal groove 1, the transverse profile into the transverse groove 2, and the RFID component housing 17 into the RFID component mounting groove 3. Fill the longitudinal groove 1, transverse groove 2, and RFID component mounting groove 3 with mortar and vibrate. Adjust and confirm the positions of the longitudinal profile, transverse profile, and RFID component housing 17. Smooth out any overflowing mortar on the outside and perform moisture retention curing. If covering and watering are performed, keep the surface of the covering moist to ensure that the mortar layer hydration reaction is fully carried out, ultimately forming a dense, high-strength hardened body. This avoids defects such as insufficient strength, cracks, and surface powdering and sanding due to moisture loss, temperature changes, etc. After curing, clean the surface of residual mortar and debris.

[0078] S3: Insert the longitudinal magnetic strip 7 into the longitudinal profile, insert the transverse magnetic strip 11 into the transverse profile, and insert the RFID chip 19 into the housing 17 of the RFID component.

[0079] In this embodiment, the longitudinal profile includes:

[0080] The longitudinal profile body 6 has a first upper opening at its top and defines a first receiving cavity that communicates with the first upper opening inside.

[0081] The first mounting base 21 is disposed on the first filling block 5 and is used to insert the longitudinal magnetic strip 7;

[0082] The first flat top seat 8 is set in the first upper opening, and the top of the longitudinal magnetic strip 7 is inserted into the first flat top seat 8.

[0083] In this embodiment, the structure of the first flat capping seat 8 is as follows: Figure 7As shown, it consists of a first base plate 81 and a first left limiting rib 82 and a first right limiting rib 83 installed under the first base plate 81. The first base plate 81 is installed in the first upper opening at the top of the longitudinal profile body 6. The opening width of the first upper opening is wider at the top and narrower at the bottom. The longitudinal profile bodies on the left and right sides form a stepped structure. The part with the wider distance between the left and right stepped structures is the limiting groove. The first base plate 81 and the limiting groove are interference fit. The first left limiting rib 82 and the first right limiting rib 83 play a limiting role for the longitudinal magnetic strip 7 to avoid jerking, twisting, or deviation during the installation of the magnetic strip.

[0084] The bottom of the first left limiting rib plate 82 and the first right limiting rib plate 83 are both provided with anti-detachment hooks 84, which are hooked into the stepped structure of the longitudinal profile body to prevent the flat top seat from curling or warping. The first flat top seat 8 is made of PVC material and has a certain elasticity. After being pressed through the stepped structure, the anti-detachment hooks 84 rebound and hook into the bottom surface of the stepped structure.

[0085] The first mounting base 21 also has a left and right limiting structure, consisting of a mounting base plate and a left limiting plate and a right limiting plate set on the mounting base plate. The lower part of the longitudinal magnetic strip 7 is accommodated in the space formed by the mounting base plate, the left limiting plate and the right limiting plate, and the upper part is accommodated in the space formed by the first base plate 81, the first left limiting rib 82 and the first right limiting rib 83.

[0086] In this embodiment, the first mounting base 21 and the first flat top base 8 adopt the same structure and are mirror-symmetrical from top to bottom.

[0087] In this embodiment, a first metal expansion tube 4 is provided at the bottom of the longitudinal profile body 6. In step S2, the longitudinal profile body 6 is fixed in the longitudinal groove 1 by the first metal expansion tube 4. There are multiple first metal expansion tubes 4, which are spaced apart at the bottom of the longitudinal profile body 6.

[0088] In order to reserve installation space for the first metal expansion tube 4 during profile extrusion molding and to ensure the continuity of the extrusion process, a first mounting groove for accommodating the expansion tube is integrally formed on the profile.

[0089] The bottom of the first mounting groove has a mounting hole, through which the first metal expansion tube 4 is installed.

[0090] The longitudinal profile also includes a first filler block 5. Since the bottom of the first receiving cavity is provided with a first mounting groove, a supportless surface is formed. Therefore, the first filler block 5 is set in the first mounting groove. The first filler block 5 is made of polyurethane. Multiple first filler blocks 5 are arranged at intervals in the first mounting groove.

[0091] The upper and lower surfaces of the first filling block 5 contact the first mounting base 21 and the first mounting groove respectively, which serves to prevent the first mounting base 21 and the magnetic strip installed on it from collapsing.

[0092] In one specific embodiment, to facilitate the placement of the first mounting base 21, a limiting mounting groove is provided at the bottom of the longitudinal profile body 6 above the mounting groove. The mounting base plate of the first mounting base 21 is inserted into the limiting mounting groove and is interference-fitted with the limiting mounting groove.

[0093] In this embodiment, in steps S2 and S3, after injecting pre-grouting mortar into the longitudinal groove 1, the longitudinal profile body 6 is embedded into the longitudinal groove 1, the longitudinal magnetic strip 7 is installed into the first mounting base 21, and then the first flat top seat 8 is installed into the first upper opening, while the top of the longitudinal magnetic strip 7 is installed into the first flat top seat 8.

[0094] Specifically, after the moisturizing and curing process is completed and the residual mortar and debris on the surface are cleaned, the longitudinal profile body 6 is fixed in the longitudinal groove 1 through the first metal expansion tube 4. Then, the first filling block 5 is installed into the first mounting groove, the first mounting seat 21 is installed into the longitudinal profile body 6, the longitudinal magnetic strip 7 is installed into the first mounting seat 21, and the first flat top seat 8 is installed into the first upper opening. At the same time, the top of the longitudinal magnetic strip 7 is installed into the first flat top seat 8.

[0095] In this embodiment, the transverse profile includes:

[0096] The transverse profile body 12 has a second upper opening at its top and defines a second receiving cavity that communicates with the second upper opening.

[0097] The second filling block 24 has a second mounting groove at the bottom of the second receiving cavity, and the second filling block 24 is disposed in the second mounting groove; the second filling block 24 is made of polyurethane.

[0098] The second mounting base 22 is disposed on the second filling block 24 and is used to install the transverse magnetic strip 11 and the filling strip 10. The transverse magnetic strip 11 and the filling strip 10 are connected. The filling strip 10 is close to the longitudinal groove 1 and plays a limiting role for the transverse magnetic strip 11, preventing the transverse magnetic strip 11 from getting close to the longitudinal magnetic strip 7 due to improper installation or other factors. The transverse magnetic strip 11 is close to the RFID component mounting slot 3. The filling strip 10 is made of polyurethane.

[0099] The second flat top seat 9 is located at the second upper opening, and the top of the transverse magnetic strip 11 and the top of the filler strip 10 are inserted into the second flat top seat 9.

[0100] The second mounting base 22 adopts the same structure as the first mounting base 21, and the second flat top cover 9 adopts the same structure as the first flat top cover 8.

[0101] In this embodiment, both the longitudinal profile body 6 and the transverse profile body 12 are made of aluminum.

[0102] In this embodiment, in steps S2 and S3, after injecting pre-grouting mortar into the transverse groove 2, the transverse profile body 12 is embedded into the transverse groove 2, the transverse magnetic strip 11 and the filler strip 10 are installed into the second mounting base 22, and then the second flat top seat 9 is installed into the second upper opening, while the top of the transverse magnetic strip 11 and the top of the filler strip 10 are installed into the second flat top seat 9.

[0103] In this embodiment, a second metal expansion tube 23 is provided at the bottom of the transverse profile body 12. In step S2, the transverse profile body 12 is fixed in the transverse groove 2 by the second metal expansion tube 23.

[0104] Specifically, after the moisturizing and curing process is completed and the residual mortar and debris on the surface are cleaned, the horizontal profile body 12 is fixed in the horizontal groove 2 through the second metal expansion tube 23. Then, the second filler block 24 is installed into the second mounting groove, the second mounting seat 22 is installed into the horizontal profile body 12, the filler strip 10 is installed into the second mounting seat 22 near the longitudinal groove 1, the horizontal magnetic strip 11 is installed into the second mounting seat 22 and connected with the filler strip 10, the second flat top seat 9 is installed into the second upper opening, and at the same time, the top of the horizontal magnetic strip 11 and the top of the filler strip 10 are installed into the second flat top seat 9.

[0105] In this embodiment, the RFID component includes:

[0106] Outer shell 17, outer shell 17 is a tubular structure;

[0107] An inner tube 18 is disposed in a housing 17, and an installation chamber is formed between the top of the inner tube 18 and the inner sidewall of the housing 17. An RFID chip 19 is disposed in the installation chamber.

[0108] The lower sealing plug 16 is located at the bottom of the housing 17.

[0109] The upper sealing plug 20 is located on the top of the housing 17.

[0110] In this embodiment, the outer shell 17 is a PVC pipe with a diameter of 40 mm, and the inner tube 18 is a PVC pipe with a diameter of 20 mm.

[0111] In this embodiment, in steps S2 and S3, after injecting pre-filled mortar into the RFID component mounting groove 3, the lower sealing plug 16 is installed at the bottom of the outer shell 17, and the outer shell 17 is embedded into the RFID component mounting groove 3; the RFID positioning component of the RFID component positioning fixture 15 is embedded at the top of the outer shell 17, mortar is filled into the RFID component mounting groove 3 and vibrated, the overflowing mortar on the outside is smoothed, and moisturizing is performed. After curing, the residual mortar and debris on the surface are cleaned, and then the RFID component positioning fixture 15 is removed; the inner tube 18 is installed into the outer shell 17 to form an installation chamber, and then the RFID chip 19 is installed into the installation chamber. Then the upper sealing plug 20 is installed on the top of the outer shell 17, and the upper and lower surfaces of the RFID chip 19 are respectively connected to the upper sealing plug 20 and the top of the inner tube 18.

[0112] After installing the upper sealing plug 20, a gasket can be added to the upper sealing plug 20 to make the whole thing flush with the ground.

[0113] The RFID positioning device can adopt the same structure as the upper sealing plug 20, and can be inserted into the top of the housing 17 and pulled out.

[0114] In this embodiment, a positioning fixture is also included, which includes:

[0115] Longitudinal magnetic rail positioning fixture 13, the positioning body of longitudinal magnetic rail positioning fixture 13 is set along the longitudinal length direction of the profile;

[0116] The transverse magnetic track positioning fixture 14 consists of a longitudinal positioning module and a transverse positioning module that are perpendicular to each other. The longitudinal positioning module is set along the longitudinal length of the profile.

[0117] The RFID component positioning fixture 15 is set along the length of the transverse profile, with one end abutting against the transverse positioning module and the other end extending outward.

[0118] RFID positioning device 151, such as Figure 8 As shown, it is located at the other end of the RFID component positioning fixture 15;

[0119] In step S2, the longitudinal profile is embedded into the longitudinal groove 1, and the transverse profile is embedded into the transverse groove 2. The longitudinal magnetic rail positioning fixture 13 and the transverse magnetic rail positioning fixture 14 are used to position the longitudinal profile and the transverse profile respectively. The outer shell 17 of the RFID component is embedded into the RFID component mounting groove 3, and the position of the outer shell 17 is positioned by the RFID positioning component. The positioning fixture is removed after the moisturizing and curing is completed.

[0120] After embedding the RFID component housing 17 into the RFID component mounting groove 3, install the RFID component positioning fixture 15 to position the RFID component housing 17, fill the RFID component mounting groove 3 with mortar and vibrate it, smooth out the overflowing mortar on the outside, perform moisture curing, and remove the RFID component positioning fixture 15 after moisture curing.

[0121] Longitudinal magnetic track positioning fixture 13 Figure 9 As shown, the bottom of the positioning body is provided with a precision-machined first limiting step 131. The first limiting step 131 transitions with the first upper opening of the longitudinal profile to ensure positioning accuracy. The positioning fixture is fixedly installed to the profile by pre-installing T-shaped nut blocks with bolts. After the receiving cavity is placed through the upper opening of the profile, the position and dimensions of the fixture are checked and the bolts are tightened. During the rotation of the bolts, the T-shaped nut blocks are locked to the bottom surface of the receiving cavity step structure. The T-shaped nut blocks at least maintain the gap of the profile receiving cavity step structure, and the radius of rotation is smaller than the space of the inner wall of the profile receiving cavity to stop it. The T-shaped nut blocks can be replaced with elastic nut blocks or square nut blocks.

[0122] For the transverse magnetic track positioning fixture 14, the bottom of its longitudinal positioning module is provided with a longitudinal limiting step that cooperates with the longitudinal profile, and the bottom of its transverse positioning module is provided with a transverse limiting step that cooperates with the transverse profile; for the RFID component positioning fixture 15, the bottom of the part that contacts the transverse profile is provided with a limiting step that cooperates with the transverse profile.

[0123] Testing showed that the magnetic field strength of the magnetic strips laid using this embodiment is stable, and the straightness and flatness error of the magnetic strip track are ≤±2mm.

[0124] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0125] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A method of robotic magnetic navigation magnetic strip paving, characterized in that, The method comprises the following steps: digging a groove along the ground; injecting pre-grouting mortar into the groove, embedding the magnetic strip installation profile into the groove after grouting, filling and vibrating the mortar in the groove, and maintaining moisture and curing; installing the magnetic strip into the magnetic strip installation profile.

2. A method of magnetic navigation of a robot for laying magnetic strips according to claim 1, characterized in that, The magnetic strip installation profile comprises: a profile body having an upper opening at the top and defining a receiving cavity in communication with the upper opening inside; a mounting seat arranged in the receiving cavity for installing the magnetic strip; a flat sealing top seat arranged at the upper opening, and the top of the magnetic strip is installed in the flat sealing top seat; installing the magnetic strip into the magnetic strip installation profile comprises the following steps: installing the magnetic strip into the mounting seat, and then installing the flat sealing top seat into the upper opening while installing the top of the magnetic strip into the flat sealing top seat.

3. A method of magnetic navigation of a robot for laying magnetic strips according to claim 2, characterized in that The flat sealing top seat is composed of a bottom plate and left and right limiting rib plates installed under the bottom plate, and the bottom plate is installed in a limiting groove at the upper opening of the longitudinal profile body; The mounting seat is composed of a mounting bottom plate and left and right limiting plates arranged on the mounting bottom plate.

4. A method of magnetic navigation of a robot for laying magnetic strips according to claim 3, characterized in that An expansion pipe is arranged at the bottom of the profile body, and the profile body is fixed in the groove through the expansion pipe.

5. A method of magnetic navigation of a robot for laying magnetic strips according to claim 4, characterized in that, The magnetic strip installation profile further comprises: a filling block, an installation groove is arranged at the bottom of the receiving cavity, an installation hole is arranged at the bottom of the installation groove, the expansion pipe is arranged through the installation hole, and the filling block is arranged in the installation groove; the mounting seat is arranged on the filling block; after the moisture and curing are completed, the profile body is fixed in the groove through the expansion pipe, and the filling block and the mounting seat are sequentially arranged in the profile body.

6. A method of magnetic navigation of a robot for laying magnetic strips according to claim 5, characterized in that The groove comprises a longitudinal groove (1) and a transverse groove (2), and the transverse groove (2) is arranged perpendicularly to the longitudinal groove (1); The magnetic strip installation profile comprises longitudinal profiles and transverse profiles; the longitudinal profiles are installed in the longitudinal groove (1), and the transverse profiles are installed in the transverse groove (2); The method comprises the following steps: S1: digging a longitudinal groove (1) along the ground, digging a transverse groove (2) in a direction perpendicular to the longitudinal groove (1), and connecting the longitudinal groove (1) and the transverse groove (2); digging an RFID assembly installation groove (3) on the extension line of the transverse groove (2), and arranging the RFID assembly installation groove (3) on the side of the transverse groove (2) away from the longitudinal groove (1); S2: injecting pre-grouting mortar into the longitudinal groove (1), the transverse groove (2), and the RFID assembly installation groove (3), embedding longitudinal profiles into the longitudinal groove (1), embedding transverse profiles into the transverse groove (2), and embedding the shell (17) of an RFID assembly into the RFID assembly installation groove (3) after grouting; filling and vibrating the mortar in the longitudinal groove (1), the transverse groove (2), and the RFID assembly installation groove (3), and maintaining moisture and curing; S3: installing a longitudinal magnetic strip (7) into the longitudinal profile, installing a transverse magnetic strip (11) into the transverse profile, and installing an RFID chip (19) into the shell (17) of the RFID assembly.

7. A method of magnetic navigation of a robot for laying magnetic strips according to claim 6, characterized in that The longitudinal profile comprises: a longitudinal profile body (6) having a first upper opening at the top and defining a first receiving cavity in communication with the first upper opening inside; A first polyurethane filling block (5) is arranged in a first installation slot formed in the bottom of the first accommodating cavity; A first installation seat (21) is arranged on the first polyurethane filling block (5) and used for accommodating the longitudinal magnetic stripe (7); A first flat top sealing seat (8) is arranged in the first upper opening, and the top of the longitudinal magnetic stripe (7) is arranged in the first flat top sealing seat (8); In steps S2 and S3, after the pre-grouting mortar is injected into the longitudinal groove (1), the longitudinal profile body (6) is embedded in the longitudinal groove (1), the longitudinal magnetic stripe (7) is arranged in the first installation seat (21), and then the first flat top sealing seat (8) is arranged in the first upper opening, and the top of the longitudinal magnetic stripe (7) is arranged in the first flat top sealing seat (8); The bottom of the longitudinal profile body (6) is provided with a first metal expansion pipe (4), and in step S2, the longitudinal profile body (6) is fixed in the longitudinal groove (1) through the first metal expansion pipe (4); The transverse profile includes: A transverse profile body (12) has a second upper opening at the top and defines a second accommodating cavity in communication with the second upper opening; A second filling block (24) is arranged in a second installation slot formed in the bottom of the second accommodating cavity; A second installation seat (22) is arranged on the second filling block (24) and used for accommodating the transverse magnetic stripe (11) and the filling strip (10), the transverse magnetic stripe (11) and the filling strip (10) are connected, the filling strip (10) is close to the longitudinal groove (1), and the transverse magnetic stripe (11) is close to the RFID assembly installation slot (3); A second flat top sealing seat (9) is arranged in the second upper opening, and the top of the transverse magnetic stripe (11) and the top of the filling strip (10) are arranged in the second flat top sealing seat (9); In steps S2 and S3, after the pre-grouting mortar is injected into the transverse groove (2), the transverse profile body (12) is embedded in the transverse groove (2), the transverse magnetic stripe (11) and the polyurethane filling strip (10) are arranged in the second installation seat (22), and then the second flat top sealing seat (9) is arranged in the second upper opening, and the top of the transverse magnetic stripe (11) and the top of the polyurethane filling strip (10) are arranged in the second flat top sealing seat (9); The bottom of the transverse profile body (12) is provided with a second metal expansion pipe (23), and in step S2, the transverse profile body (12) is fixed in the transverse groove (2) through the second metal expansion pipe (23).

8. A method of magnetic navigation of a robot for laying magnetic strips according to claim 7, characterized in that The RFID assembly includes: An outer shell (17) has a tubular structure; An inner tube body (18) is arranged in the outer shell (17), and an installation cavity is formed between the top of the inner tube body (18) and the inner side wall of the outer shell (17), and an RFID chip (19) is arranged in the installation cavity; A lower sealing plug (16) is sealingly arranged at the bottom of the outer shell (17); An upper sealing plug (20) is sealingly arranged at the top of the outer shell (17).

9. A method of magnetic navigation of a robot for laying magnetic strips according to claim 8, characterized in that In steps S2 and S3, after injecting the pre-cast mortar into the RFID component installation groove (3), the lower sealing plug (16) is installed at the bottom of the outer shell (17), and the outer shell (17) is embedded into the RFID component installation groove (3); After the end of the moisturizing maintenance, the inner tube body (18) is installed into the outer shell (17) to form an installation chamber, the RFID chip (19) is installed into the installation chamber, and then the upper sealing plug (20) is installed at the top of the outer shell (17), and the upper and lower surfaces of the RFID chip (19) are respectively connected with the upper sealing plug (20) and the top of the inner tube body (18).

10. The method of claim 8, wherein, Further comprising a positioning tool, the positioning tool comprises: A longitudinal magnetic rail positioning tool (13) is arranged along the length direction of the longitudinal profile; A transverse magnetic rail positioning tool (14) is composed of a longitudinal positioning module and a transverse positioning module which are perpendicular to each other, and the longitudinal positioning module is arranged along the length direction of the transverse profile; An RFID component positioning tool (15) is arranged along the length direction of the transverse profile, one end of which is abutted with the transverse positioning module, and the other end of which extends outward; An RFID positioning member (151) is arranged at the other end of the RFID component positioning tool (15); In step S2, after embedding the longitudinal profile into the longitudinal groove (1) and embedding the transverse profile into the transverse groove (2), the longitudinal magnetic rail positioning tool (13) and the transverse magnetic rail positioning tool (14) are respectively used to position the longitudinal profile and the transverse profile; after embedding the outer shell (17) of the RFID component into the RFID component installation groove (3), the RFID positioning member is used to position the outer shell (17); and after the end of the moisturizing maintenance, the positioning tools are removed.

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