3D Magnetic Localization and Attitude Estimation for Trackless AGVs
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Solution Overview
Problem
Existing localization methods for trackless guided automated guided vehicles (AGVs) are limited to two-dimensional spaces and cannot accurately determine the attitude of objects in three-dimensional spaces, requiring pre-planned site layouts and unable to function in unstructured environments.
Innovation Solution
A method and system using multiple magnetic landmarks and tri-axes magnetic sensors to estimate position and attitude in three-dimensional spaces by solving non-linear magnetic equations, allowing for flexible placement of landmarks and sensors without pre-defined maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If label localization technology is used, then localization can be achieved in two-dimensional space, but it cannot be applied to three-dimensional localization system and cannot judge the attitude of the object
Solution Approach 1:
The patent transitions from two-dimensional label localization to three-dimensional magnetic field localization by introducing magnetic landmarks with spatial coordinates (x, y, z) and utilizing the magnetic field's ability to provide information in all three dimensions, enabling both position and attitude determination
2Measurement precision
If label localization technology is used, then localization can be achieved, but the space site needs to be emptied in advance and it is hard to be used for plants lack of pre-planning site
Solution Approach 1:
The patent replaces the mechanical/physical label system that requires site preparation with a magnetic field-based system where magnetic landmarks can be freely positioned in three-dimensional space without requiring the site to be emptied or pre-planned
3Adaptability or versatility
If multiple magnetic sensors are used to sense magnetic fields, then position and attitude can be estimated in three-dimensional space, but non-linear magnetic equations need to be solved
Solution Approach 1:
The patent uses magnetic field vectors as an intermediary between the magnetic landmarks and the sensors, formulating non-linear magnetic equations that relate the magnetic field measurements to position and attitude, which are then solved using null space methods
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate localization and attitude estimation of moving carriers in three-dimensional spaces without pre-planned site layouts, enhancing flexibility and mobility, and allowing for wider localization ranges.
Implementation Method 1
at least three magnetic landmarks arbitrarily disposed around a moving carrier in three-dimensional coordinates... One set of at least five tri-axes magnetic sensors is used to sense the magnetic fields of the at least three magnetic landmarks
Data Source
AI summary
A localization and attitude estimation method using magnetic fields includes the following steps. First, in three-dimensional coordinates, at least three magnetic landmarks arbitrarily disposed around a moving carrier are selected, wherein any two of the at least three magnetic landmarks have different magnetic directions. One set of at least five tri-axes magnetic sensors is used to sense the magnetic fields of the at least three magnetic landmarks. Three magnetic components on three axes of a current position of each of the tri-axes magnetic sensors are respectively generated by a demagnetization method. Five non-linear magnetic equations are solved to obtain position information and magnetic moment information of the at least three magnetic landmarks in the three-dimensional coordinates. Position vectors and attitude vectors of the set of at least five tri-axes magnetic sensors in a three-dimensional space are estimated based on tri-axes magnetic moment vectors of the magnetic landmarks.