CN106483965A - Inertia combined navigation system based on magnetic nail correction and position coder auxiliary - Google Patents
Inertia combined navigation system based on magnetic nail correction and position coder auxiliary Download PDFInfo
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- CN106483965A CN106483965A CN201610842631.7A CN201610842631A CN106483965A CN 106483965 A CN106483965 A CN 106483965A CN 201610842631 A CN201610842631 A CN 201610842631A CN 106483965 A CN106483965 A CN 106483965A
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- master controller
- magnetic nail
- sensor
- position coder
- magnetic
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- 238000012937 correction Methods 0.000 title claims abstract description 12
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims abstract description 5
- 230000004913 activation Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000012545 processing Methods 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Navigation (AREA)
Abstract
The present invention is a kind of inertia combined navigation system based on magnetic nail correction and position coder auxiliary, and this system includes master controller, described master controller is connected to magnetic nail sensor, position coder, inertial sensor and communication interface, wherein：Position coder, for calculating AGV trolley travelling mileage, and is sent to master controller；Inertial sensor, for measuring AGV angle change data, and is sent to master controller, as the Main Basiss of AGV gesture stability；Communication interface, gives higher leveled control system for the data is activation after processing master controller.The inertia combined navigation system based on position coder and magnetic nail correction for the present invention composition, reduces maintenance cost, improves navigation accuracy, application scenario is wider.
Description
Technical field
The invention belongs to AGV field of navigation technology is and in particular to a kind of rectified a deviation and position coder auxiliary based on magnetic nail
Inertia combined navigation system.
Background technology
The AGV airmanship that presently, there are mainly has several as follows：First, light belt navigation；2nd, tape navigation；3rd, laser is led
Boat；4th, vision guided navigation；5th, inertial navigation.
The pluses and minuses of various navigation modes：
Light belt navigates
Advantage：Realize simple, easy to maintenance, cost is relatively low.
Shortcoming：Stability and dependability is poor, is easily disturbed by ambient light and pollution, larger to environmental requirement ratio, multiple
It is restricted than larger under miscellaneous path.
Tape navigates
Advantage：Realize simple, easy to maintenance, cost is relatively low, preferably, technology maturity is high for Stability and dependability, is difficult by dry
Disturb.
Shortcoming：Pahtfinder hard is restricted to ratio is larger, weaker to the adaptability of environment, fragile.
Laser navigation
Advantage：Degree of stability is higher with reliability, and installation difficulty is low, and system flexibility is high, and to the competent degree of pahtfinder hard well, technology becomes
Ripe degree is high.
Shortcoming：High cost, system maintenance high cost is general to the adaptability of environment.
Vision guided navigation
Advantage：System flexibility is high, very good to adaptive capacity to environment, can be competent at the task of Various Complex, represents navigation skill
The most advanced direction of art.
Shortcoming：Technology is immature, not yet forms typical application case, only resides within theory.
Inertial navigation
Advantage：Cost is relatively low, easy to maintenance, very strong to the adaptability of environment, and Stability and dependability preferably, is difficult by dry
Disturb, system flexibility is high, to the competent degree of pahtfinder hard well.
Shortcoming：The characteristic of gyro sensor itself leads to build up error.
And a kind of inertia combined navigation system based on position coder and magnetic nail correction that the present invention provides, thoroughly overcome
The accumulated error that gyroscope produces, its multiple sensors comprising, constantly the error concealment of gyro sensor to minimum,
Improve precision and stability, and thoroughly play the intrinsic advantage of inertial navigation, in general, followed closely with magnetic based on position coder
The inertia combined navigation system of correction, its performance is significantly better than other modes of navigating.
Content of the invention
It is an object of the invention to the problem overcoming prior art to exist, provide a kind of based on magnetic nail correction with position encoded
The inertia combined navigation system of device auxiliary, solves system flexibility present in the conventional navigation modes such as light belt navigation, tape navigation
Difference, function are weaker and the problems such as environmental suitability is poor, solve high cost present in laser navigation mode, maintenance difficulties big, with
And in vision guided navigation mode, have such problems as that technology maturation is poor, stability is poor.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions：
A kind of inertia combined navigation system based on magnetic nail correction and position coder auxiliary, this system includes master controller, institute
State and be connected with master controller：
Magnetic follows closely sensor, for the position of detection magnetic nail, and calculates AGV offset distance and deviation angle, then feeds back to master control
Device processed；
Position coder, for calculating AGV trolley travelling mileage, and is sent to master controller；
Inertial sensor, for measuring AGV angle change data, and is sent to master controller, main as AGV gesture stability
Foundation；
Communication interface, gives higher leveled control system for the data is activation after processing master controller.
Further, described magnetic nail sensor includes the first magnetic nail sensor and the second magnetic nail sensor, and the first magnetic nail passes
Sensor and the second magnetic nail sensor connect master controller respectively.
The invention has the beneficial effects as follows:
The present invention is integrated with magnetic nail sensor, position coder, inertial sensor structures, and composition is followed closely with magnetic based on position coder
The inertia combined navigation system of correction, carries out synthetical collection information to analyze and to process, and produces navigation results, with respect to any one
Plant single navigation mode, not only overcome its inherent defect, and make navigation accuracy higher, and AGV can be reduced and run scene
Maintenance frequency and intensity, it is to avoid laying light belt, tape or reflector, in this kind of navigation mode, AGV routing information, substantially
Do not rely on external signal, by as much as possible from AGV vehicle body, for some special occasions, such as iron plate ground, dirty
Contaminate serious ground, outdoor surfaces, the navigation mode of the present invention has higher adaptability than other navigation.
Brief description
Fig. 1 is the structural representation of the present invention.
In figure label declaration：1st, master controller, the 2, first magnetic nail sensor, the 3, second magnetic nail sensor, 4, position encoded
Device, 5, inertial sensor, 6, communication interface.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, to describe the present invention in detail.
Shown in reference Fig. 1, a kind of inertia combined navigation system based on magnetic nail correction and position coder auxiliary, this system
Including master controller 1, described master controller 1 is connected to magnetic nail sensor, position coder 4, inertial sensor 5 and leads to
Letter interface 6, wherein：
Magnetic follows closely sensor, for the position of detection magnetic nail, and calculates AGV offset distance and deviation angle, then feeds back to master control
Device 1 processed；.
Position coder 4, for calculating AGV trolley travelling mileage, and is sent to master controller 1；
Inertial sensor 5, for measuring AGV angle change data, and is sent to master controller 1, as the master of AGV gesture stability
Will foundation；
Communication interface 6, gives higher leveled control system for the data is activation after processing master controller 1.
Described magnetic nail sensor includes the first magnetic nail sensor 2 and the second magnetic nail sensor 3, the first magnetic nail sensor 2 He
Second magnetic nail sensor 3 connects master controller 1 respectively.
Furthermore, it is necessary to explanation, unless stated otherwise or point out, otherwise the term in description " first ", " the
Two " etc. description is used only for distinguishing each assembly in description, element, step etc., rather than is used for representing each assembly, unit
Logical relation between element, step or ordering relation etc..
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (2)
1. a kind of inertia combined navigation system based on magnetic nail correction and position coder auxiliary is it is characterised in that this system bag
Include master controller（1）, described master controller（1）On be connected with：
Magnetic follows closely sensor, for the position of detection magnetic nail, and calculates AGV offset distance and deviation angle, then feeds back to master control
Device processed（1）；
Position coder（4）, for calculating AGV trolley travelling mileage, and it is sent to master controller（1）；
Inertial sensor（5）, for measuring AGV angle change data, and it is sent to master controller（1）, as AGV gesture stability
Main Basiss；
Communication interface（6）, for by master controller（1）Data is activation after process gives higher leveled control system.
2. the inertia combined navigation system based on magnetic nail correction and position coder auxiliary according to claim 1, it is special
Levy and be, described magnetic nail sensor includes the first magnetic nail sensor（2）Follow closely sensor with the second magnetic（3）, the first magnetic nail sensor
（2）Follow closely sensor with the second magnetic（3）Connect master controller respectively（1）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842631.7A CN106483965A (en) | 2016-09-23 | 2016-09-23 | Inertia combined navigation system based on magnetic nail correction and position coder auxiliary |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842631.7A CN106483965A (en) | 2016-09-23 | 2016-09-23 | Inertia combined navigation system based on magnetic nail correction and position coder auxiliary |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106483965A true CN106483965A (en) | 2017-03-08 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610842631.7A Pending CN106483965A (en) | 2016-09-23 | 2016-09-23 | Inertia combined navigation system based on magnetic nail correction and position coder auxiliary |
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| Country | Link |
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| CN (1) | CN106483965A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032130A (en) * | 2018-06-22 | 2018-12-18 | 青岛港国际股份有限公司 | A kind of automatic dock magnetic nail repair method and system |
| CN109399464A (en) * | 2018-12-29 | 2019-03-01 | 三海洋重工有限公司 | Gantry crane cart attitude control method and device |
| CN109813213A (en) * | 2019-02-11 | 2019-05-28 | 芯球（上海）智能科技有限责任公司 | AGV vehicle angle detection system and method |
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| KR20130099672A (en) * | 2012-02-29 | 2013-09-06 | 부산대학교 산학협력단 | Fuzzy inference system and method |
| CN104878970A (en) * | 2015-06-10 | 2015-09-02 | 深圳怡丰机器人科技有限公司 | Car conveying robot provided with AGV (automatic guided vehicle) and adopting car carrying board exchange |
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-
2016
- 2016-09-23 CN CN201610842631.7A patent/CN106483965A/en active Pending
Patent Citations (5)
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| KR20130099672A (en) * | 2012-02-29 | 2013-09-06 | 부산대학교 산학협력단 | Fuzzy inference system and method |
| CN102997910A (en) * | 2012-10-31 | 2013-03-27 | 上海交通大学 | Positioning and guiding system and method based on ground road sign |
| CN204650214U (en) * | 2015-06-03 | 2015-09-16 | 上海振华重工(集团)股份有限公司 | The wireless telecommunications navigation control system of rail shuttle |
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Non-Patent Citations (1)
| Title |
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| 范宁军 等: "AGV的导向方法和技术", 《光机电一体化系统设计》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109032130A (en) * | 2018-06-22 | 2018-12-18 | 青岛港国际股份有限公司 | A kind of automatic dock magnetic nail repair method and system |
| CN109032130B (en) * | 2018-06-22 | 2021-08-27 | 青岛港国际股份有限公司 | Automatic wharf magnetic nail maintenance method and system |
| CN109399464A (en) * | 2018-12-29 | 2019-03-01 | 三海洋重工有限公司 | Gantry crane cart attitude control method and device |
| CN109813213A (en) * | 2019-02-11 | 2019-05-28 | 芯球（上海）智能科技有限责任公司 | AGV vehicle angle detection system and method |
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Application publication date: 20170308 |