CN114234957A - Node identification method based on magnetic stripe navigation data code - Google Patents
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Abstract
The invention provides a node identification method based on a magnetic stripe navigation data code, which comprises the following steps: step 1, when the magnetic conductive sensor (3) detects a magnetic strip, the corresponding area of the 16-bit lamp is lighted, and the state is transmitted through the magnetic conductive sensor (3); step 2, judging whether the width of the magnetic stripe detected by the magnetic conductance sensor is within a preset width range; step 3, if the checking result is true, calculating the time for the equipment to pass through the section of magnetic stripe; step 4, according to the set limit value of the length of the magnetic stripe; step 5, entering a data code analysis program when the calculated magnetic bar code number is 3; step 6, when the controller detects that the number 3 is input, the data code analysis program starts to analyze; step 7, converting the analysis result into a decimal number and assigning the decimal number to a node mark; step 8, the controller program identifies the value of the node marker. The magnetic strip can be used for path navigation and node identification control, has higher precision, and greatly reduces the development and maintenance cost.
Description
Technical Field
The invention relates to the technical field of identification, in particular to a node identification method based on magnetic stripe navigation data codes.
Background
In order to ensure the accuracy and reliability of the positioning, suitable sensors must be used, and different sensors form different positioning methods. The method mainly comprises a positioning method based on a photosensitive device, a positioning method of an eddy current sensor, a positioning method of a photoelectric sensor and a sensor combination positioning method.
The positioning method based on the photosensitive device is based on the photoelectric effect. As can be seen from the illumination characteristics of the phototransistor, the photocurrent output and the illumination have better linearity. The illumination of the AGV is increased along with the continuous approaching of the AGV and the target position, and the output of the photosensitive device is increased along with the increase of the illumination, so that the positioning of the AGV can be controlled. The effective detection range of the positioning method is longer and can reach more than 200mm, but the positioning precision is lower, the output change of the photosensitive device in the whole positioning process is not obvious, and the calibration is difficult.
The positioning method based on the eddy current sensor has the advantages that the eddy current sensor is large in linear measurement range and high in sensitivity, and can directly measure the displacement. The positioning method can be used for accurate positioning. The main element of the eddy current sensor is a coil, the shape and the size of which are related to the sensitivity and the measuring range of the sensor, and the detection range is generally longer (more than 100 mm) in the positioning process, so the volume is larger. The electromagnetic field generated when the coil is operated has a magnetic influence on the sensors used in the coordinate guidance method and the electromagnetic induction guidance method.
The method based on photoelectric sensors, the positioning method is composed of photoelectric pair tubes. Normally, the receiver tube receives the infrared signal. When the AGV reaches the destination position, the AGV blocks infrared rays to prompt the sending of a control signal. The positioning precision can reach more than 1.5 mm. If a small light gap is arranged in front of the transmitting tube, the positioning precision can be improved to be more than 0.6 mm. However, this positioning method cannot control the AGV until the final accurate positioning after the automatic guidance is finished.
The sensor combination positioning method comprises two parts of light guide and fine positioning. The light guide adopts a photosensitive device for guiding, and because the effective detection range of the photosensitive device is longer, but the precision is poorer, the accurate positioning cannot be carried out, and the precision of the magnetic sensor is very high, the advantages of the photosensitive device and the magnetic sensor can be combined by adopting a combined method, when the positioning is carried out, the infrared ray is firstly used for guiding to enable the positioning to be close to the target position, and finally, the accurate positioning element (such as an approach switch) is used for carrying out the accurate positioning. This method is highly accurate, but the apparatus is complicated.
The positioning method of the AGV trolley is based on a positioning method of a photosensitive device, and the positioning of the AGV trolley is completed through a photoelectric effect. As can be seen from the illumination characteristics of the phototransistor, the photocurrent output and the illumination have better linearity. Along with the continuous approaching of the AGV trolley and the target position, the illumination of the AGV trolley is continuously increased, the output of the photosensitive device is increased, and therefore the positioning of the AGV trolley can be controlled. In order to ensure the accuracy and reliability of the positioning, suitable sensors must be used, and different sensors form different positioning methods. The AGV trolley positioning method based on the photosensitive device can reach an effective detection range of more than 200mm, and has the defects of low positioning precision, unobvious output change of the photosensitive device in the whole positioning process and difficulty in calibration;
magnetic nail navigation of an AGV of an automatic guided vehicle is the same as magnetic stripe navigation, and a magnetic navigation sensor is needed to position the left position and the right position of the AGV. The difference is that the magnetic nail navigation uses the magnetic nail to replace the magnetic strip to provide navigation information for the AGV to travel, and replaces the magnetic strip navigation continuous induction mode; because magnetic nail navigation cannot be laid like magnetic stripe navigation, the spacing between two adjacent magnetic nails is generally at least 1 meter for ease of laying and maintenance. Therefore, the AGV car can lose navigation information (blind area for short) between the magnetic nails, the running in the blind area is unforeseen and unsafe, and an angle sensor is needed to provide a direction angle for the AGV car at this time so as to guide the AGV car to correctly run between the magnetic nails.
The RFID intelligent positioning method is a regional positioning method, namely, the RFID technology of radio frequency and low frequency positioning is utilized to automatically identify and regionally position personnel, so as to realize the personnel management function, such as: personnel attendance, personnel searching, personnel area limiting, personnel counting, video linkage, historical track query, key area management and the like;
an AGV node positioning method based on laser navigation and picture recognition generally comprises the steps of setting a plurality of nodes and clip type marks, attaching the clip type marks to each node, shooting and recognizing the clip type marks by a visible light camera in the moving process of an AGV body, and positioning the node corresponding to the current clip type mark through a positioning algorithm.
Disclosure of Invention
The invention aims to provide a node identification method based on a magnetic stripe navigation data code, so that the autonomous navigation equipment can carry out node identification and positioning control without installing an additional sensor under a magnetic stripe navigation mode.
The technical scheme of the invention provides a node identification method based on magnetic stripe navigation data codes, which is characterized by comprising the following steps:
step 1, when the magnetic conductance sensor detects a magnetic stripe, the corresponding area of the 16-bit lamp is lighted, and the state is output to a controller through the magnetic conductance sensor;
step 4, respectively taking three intermediate values according to the set limit value of the length of the magnetic stripe; the limit value of the magnetic strip attached to the ground is set to be a, b, c, a > b > c, three intermediate values are respectively close to (a + b)/2, (b + c)/2 and c/2, and the numerical quantity represented by the length of the magnetic strip is judged to be 3, 2 or 0, 1;
step 5, when the calculated magnetic bar code number is 3, entering a data code analysis program, if the controller does not detect other magnetic bar code input conforming to the width within 2 seconds, selecting to judge that the magnetic bar code is in false triggering, and exiting the data code analysis program;
step 7, converting the analysis result into a decimal number, assigning the decimal number to a node mark, and inputting the decimal number to a main program of the controller;
and 8, the controller program can identify the value of the node mark, so that the control function corresponding to the numerical value of the node is specified in advance by the function definition specification.
Furthermore, in step 2, the ground is pasted with the magnetic bar codes with specific lengths, when the autonomous navigation equipment passes through, the number of the light-on lamps of the magnetic conductance sensor can be increased, and the number of the light-on lamps also has a range correspondingly due to the specific lengths of the magnetic bar codes.
Further, in step 4, the length value of the magnetic strip attached to the ground is known, the arrangement sequence can be changed at will, the arrangement sequence and the length are unknown for the controller and the magnetic conductance sensor, and the controller can directly record the time t when the navigation equipment passes through a certain section of magnetic strip according to the sampling frequency by combining the output state of the light-on of the magnetic conductance sensor.
Further, in step 7, two binary values of 0 or 1 are obtained by subtracting 1 from 1 or 2, a binary number of one bit is obtained by utilizing the sequence of obtaining 0 or 1, and finally a data code is obtained by converting the binary number into a corresponding decimal number, and the data code is assigned to a node mark in the controller program.
The invention has the beneficial effects that:
in the application of the magnetic stripe navigation technology, the method enables a magnetic stripe originally used for paving path navigation to be provided with a plurality of groups of magnetic bar codes by a specific method, then analyzes data codes in the magnetic bar codes by using an algorithm, and can realize node identification control without an additional detection sensor. The control requirement can be met, the method is stable and reliable, the occupied space is greatly reduced, the maintenance is easy, and certain cost can be saved.
Drawings
FIG. 1 is a schematic diagram of a node identification method based on magnetic stripe navigation data codes;
FIG. 2 is an algorithm flow for resolving magnetic barcodes into data codes for node identification control;
FIG. 3 is a schematic view of three magnetic strips in a layout sequence.
Wherein: the method comprises the steps of 1-magnetic conduction navigation path, 2-autonomous navigation equipment provided with a magnetic conduction sensor and a controller, 3-magnetic conduction sensor, 4-first group of magnetic stripes, 5-second group of magnetic stripes, 6-third group of magnetic stripes and 7-fourth group of magnetic stripes.
The specific implementation mode is as follows:
the technical solution of the present invention will be described in detail with reference to fig. 1.
As shown in fig. 1, this embodiment provides an autonomous navigation device equipped with magnetic stripe navigation sensors and a controller, which includes a laid magnetic navigation path 1, an autonomous navigation device 2 equipped with a controller, a magnetic sensor 3 mounted on the device, a first set of magnetic stripes 4, a second set of magnetic stripes 5, a third set of magnetic stripes 6, and a fourth set of magnetic stripes 7, wherein the four sets of magnetic stripes are random magnetic stripes with a specific arrangement form. The magnetic bar codes are arranged on the magnetic stripe navigation path, and the magnetic bar codes in the arrangement form are analyzed into data codes through an algorithm to be used as control nodes for controlling the action and the positioning of the autonomous navigation equipment.
In the scheme, each magnetic bar code is analyzed to obtain a data code with a specific function through an algorithm, and when the autonomous navigation equipment passes through and identifies the data code, instructions represented by the magnetic bar code, such as acceleration and deceleration, stop, node calling and the like, can be executed, so that the node identification control function of the autonomous navigation equipment based on the magnetic bar navigation data code is realized.
The controller is used for controlling the operation of the autonomous navigation equipment, monitoring the operation state of the equipment and processing data.
The magnetic conductance sensor 3 is a detection device, the operation of the whole autonomous navigation device is controlled by the controller, and a code analysis module, an algorithm and the like are part of a program in the controller.
As shown in fig. 1, the embodiment provides a node identification control method based on a magnetic stripe navigation data code, which specifically includes the following steps:
step 1, arranging a plurality of groups of magnetic bar codes with specific lengths on a path magnetic stripe, and operating an autonomous navigation device along the path magnetic stripe. The magnetic conductance sensor is provided with a 16-bit lamp, when the magnetic conductance sensor 3 detects a magnetic bar code, the corresponding area of the 16-bit lamp can generate lighting change, and the state is output to the controller through the magnetic conductance sensor 3.
The method comprises the steps of firstly laying path magnetic stripes on the ground, and then placing a plurality of groups of magnetic stripes in a specific form to be used as magnetic stripe code areas. The 16-bit lamp of the magnetic conductance sensor can be regarded as 2 bytes, the 16-bit lamp is divided into a high byte part and a low byte part, when the autonomous navigation equipment normally runs along a path magnetic stripe, the lamp is lightened at the high byte position and the low byte position under an ideal condition, namely, in a middle state, the number of the lightened lamp can be fixed, when the lightened lamp position is biased, or the number of the lightened lamp position is increased, the equipment can be considered to be biased leftwards and rightwards or the magnetic stripe at the position is changed, and the magnetic conductance sensor outputs the state of the lightened lamp to a controller for comprehensive judgment.
And 2, judging whether the width of the detected magnetic stripe meets a preset width range.
The magnetic bar code with the specific length is pasted on the ground, when the autonomous navigation equipment passes through, the number of the light-on lamps of the magnetic conduction sensor 3 is increased, and as the magnetic bar code is of the specific length, the number of the light-on lamps also has a range correspondingly, in the embodiment, for example, the number of the light-on lamps corresponding to the length of the magnetic bar code is 6-10, and if the number of the light-on lamps is in the range, the next step is carried out.
And 3, checking the authenticity of the judgment result in the step 2, and calculating the time for the autonomous navigation equipment to pass through the section of magnetic stripe when the detection result is true.
When the magnetic conductance sensor detects the width change and the signal is continuous, that is, the result of step 2 is true, an accumulation state with an initial value of 1 is made in the controller program until the autonomous navigation device just passes the falling edge of the magnetic stripe, and the addition is not performed to judge whether the process is continuous or not, and 1 is added until the falling edge exits after the rising edge when the magnetic stripe change is detected for the first time. And outputting the time t of passing through the section of magnetic stripe after exiting, and exiting the section of flow from the beginning of the rising edge to the falling edge, wherein the time of the process is the time of passing through the magnetic stripe by the trolley.
Step 4, respectively taking three intermediate values according to the set length value of the magnetic stripe; wherein, the length of the magnetic strip attached to the ground is set as a, b, c (a > b > c), three intermediate values are taken to be in the vicinity of (a + b)/2, (b + c)/2, c/2, and the value represented by the magnetic strip of the length is judged to be 3, 2 or 0, 1;
in the step, the length value of the magnetic strip attached to the ground is known, the arrangement sequence can be changed at will, the arrangement sequence and the length are unknown for the controller and the magnetic conductance sensor 3, but the controller can be combined with the output state of the light-on of the magnetic conductance sensor, and the time t when the navigation equipment passes through a certain magnetic strip is directly recorded according to the sampling frequency. The three intermediate values taken, since virtual, device undetectable, time can be found by the formula L/(V x 0.026), where L is the stripe length, 0.026 is the sampling period, V is the device operating speed (known), represented by b1, b2, b3, and b1> b2> b 3. Finally, the time t is judged to be in which range, if t is less than b3, the comparison module outputs a value of 0, and if b3 is less than t is less than b2, the comparison module outputs a value of 1. Since there are a total of four intervals, the final value is only four cases 0, 1, 2, 3, and the final result is how much, the actually determined time is compared with the time determined by calibration, and which interval belongs to.
The numerical quantity represented by each magnetic stripe is represented by B, and when B3< t < B2, B is 1; when B2< t < B1, B ═ 2; when t > B1, B ═ 3; when t < B3, B is 0.
And 5, entering a data code analysis program when the calculated magnetic bar code number is 3, and if other magnetic bar code input conforming to the width is not detected within 2 seconds, judging that the magnetic bar code is falsely triggered, and exiting the data code analysis program.
And a flag bit magnetic strip is arranged in front of each section of magnetic bar code, when the value B obtained by comparing the actual time t of the section of magnetic strip with the calibration time B calculated by taking the intermediate value is 3 and the input of other magnetic strips is detected within 2 seconds, the next data code analysis program is entered, and if the input is judged to be triggered by mistake, the program is exited.
and 7, converting the calculation result into a decimal number and assigning the decimal number to a node mark.
The value of the information bit obtained in the foregoing is 1 or 2, at this time, 1 or 2 is subtracted from 1 to obtain two binary values of 0 or 1, the order of obtaining 0 or 1 is utilized, that is, the combination of three binary values (for example, 010, 001, 110) obtains a binary digit, and finally the binary digit is converted into a corresponding decimal number to obtain a data code, and the value is assigned to a node mark in the controller program.
And 8, the controller program can recognize the value of the node mark, so that the node recognition control function is realized.
The predefined function specification defines a node flag value, for example, when the node flag value is 1, the autonomous navigation apparatus stops operating, and when the node flag value is 2, the autonomous navigation apparatus accelerates to operate. When the controller program recognizes the value of the node marker, the controller may control the operation of the autonomous navigation device according to a predefined functional specification. If more nodes are needed, the length of the preset magnetic strip and the number of the magnetic bar codes are changed.
The embodiment also provides an algorithm for converting magnetic stripes with different lengths into data codes;
step 1, setting three magnetic strips with different lengths to be attached to a navigation path, wherein the length of each magnetic strip is L1-14 cm, L2-9 cm and L3-5 cm. The arrangement form is shown in figure 1.
And 2, detecting the time length for passing through each section of magnetic stripe by the magnetic conductance sensor 2, wherein the time length is t1, t2 and t3 respectively.
And 3, setting three intermediate values to distinguish the lengths of the three segments of magnetic strips, wherein the lengths of the three segments of magnetic strips are k 1-12, k 2-6 and k 3-3.
And 4, calculating a value b through a formula, wherein v is a real-time vehicle speed and is directly given by a sensor, b is the time of passing through the magnetic stripe with a set intermediate value, and 0.026 is a scanning period.
Step 5, the values represented by each segment of magnetic stripe are represented by B, 3 when B > B1, 2 when B2< B < B1, 1 when B3< B < B2, and 0 when B < B3, B1, B2, and B3 are obtained from k1, k2, and k 3. For convenience of visual understanding, the schematic diagram shown in fig. 3 provides three sections of magnetic strips in a laying sequence, where L1, L2, and L3 are lengths of magnetic strips actually attached to the ground (the length sequence can be changed arbitrarily), and t1, t2, and t3 are times of respectively passing through the three sections of magnetic strips. K1, K2, and K3 are three intermediate values taken according to the actual magnetic stripe length L, and b1, b2, and b3 are the time taken to pass through the three magnetic stripes, respectively.
T1> B1, B2< t2< B1, B3< t3< B2, so that the magnetic length output of the L1 segment is B-3, the magnetic length output of the L2 segment is B-2, and the magnetic length output of the L3 segment is B-1.
If the magnetic strips are arranged into L1, L2, L3 and L2, the detected numbers are 3, 2, 1 and 2, wherein 3 is a flag bit, namely when the number 3 is detected, the default code entering calculation module is defaulted, the detected values 2 and 1 in the module are processed to obtain binary codes 0 and 1, so that the arrangement sequence of the magnetic strips represents that the binary number is 101, the binary number is converted into a decimal number 5, the decimal number 5 represents a node, and various combinations, such as 101, 110, 010 and 001, can be obtained according to different arrangement sequences, and control commands with specific meanings can be set. Note that the number 3 in each code is a flag bit, and determines whether to enter the code calculation module, but not to participate in the calculation. In summary, only the arrangement sequence of the magnetic stripes is changed, different data codes can be obtained, and thus a plurality of different nodes can be arranged. If more combinations are needed, the length and the number of the magnetic strips can be modified.
While the principles of the invention have been described in detail in connection with the preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing embodiments are merely illustrative of exemplary implementations of the invention and are not limiting of the scope of the invention. The details of the embodiments are not to be interpreted as limiting the scope of the invention, and any obvious changes, such as equivalent alterations, simple substitutions and the like, based on the technical solution of the invention, can be interpreted without departing from the spirit and scope of the invention.
Claims (4)
1. A node identification method based on magnetic stripe navigation data codes is characterized in that:
step 1, when the magnetic conductance sensor (3) detects a magnetic stripe, the corresponding area of the 16-bit lamp is lighted, and the state is output to the controller through the magnetic conductance sensor (3);
step 2, judging whether the width of the magnetic strip detected by the magnetic conductance sensor is within a preset width range, and entering step 3 if the width of the magnetic strip detected by the magnetic conductance sensor meets the condition;
step 3, checking the authenticity of the result judged in the step 2, and calculating the time for the equipment to pass through the section of magnetic stripe if the checking result is true;
step 4, respectively taking three intermediate values according to the set limit value of the length of the magnetic stripe; the limit value of the magnetic strip attached to the ground is set to be a, b, c, a > b > c, three intermediate values are respectively close to (a + b)/2, (b + c)/2 and c/2, and the numerical quantity represented by the length of the magnetic strip is judged to be 3, 2 or 0, 1;
step 5, when the calculated magnetic bar code number is 3, entering a data code analysis program, if the controller does not detect other magnetic bar code input conforming to the width within 2 seconds, selecting to judge that the magnetic bar code is in false triggering, and exiting the data code analysis program;
step 6, when the controller detects that a digit 3 is input, the data code analysis program starts to analyze along with the input of a digit 2 or a digit 1, wherein the digit 3 is a flag bit, and the digit 2 or 1 is an information bit;
step 7, converting the analysis result into a decimal number, assigning the decimal number to a node mark, and inputting the decimal number to a main program of the controller;
and 8, the controller program can identify the value of the node mark, so that the control function corresponding to the numerical value of the node is specified in advance by the function definition specification.
2. The method for identifying nodes based on magnetic stripe navigation data codes according to claim 1, wherein: in the step 2, the magnetic bar codes with specific lengths are pasted on the ground, when the autonomous navigation equipment passes through, the number of the light-on lamps of the magnetic conduction sensor (3) can be increased, and the number of the light-on lamps correspondingly has a range due to the specific lengths of the magnetic bar codes.
3. The method for identifying nodes based on magnetic stripe navigation data codes according to claim 1, wherein: in the step 4, the length value of the magnetic strip attached to the ground is known, the arrangement sequence can be changed at will, the arrangement sequence and the length are unknown for the controller and the magnetic conductance sensor (3), and the controller can directly record the time t when the navigation equipment passes through a certain section of magnetic strip according to the sampling frequency by combining the output state of the light of the magnetic conductance sensor.
4. The method for identifying nodes based on magnetic stripe navigation data codes according to claim 1, wherein: in step 7, 1 or 2 is subtracted from 1 to obtain two binary values of 0 or 1, the sequence of obtaining 0 or 1 is utilized to obtain a one-bit binary number, and finally the binary number is converted into a corresponding decimal number to obtain a data code, and the data code is assigned to a node mark in a controller program.
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| SE2351130A1 (en) * | 2023-09-29 | 2024-04-11 | Husqvarna Ab | A method for operating an autonomous robot |
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| 王康;梁秀英;周风燃;陈欢;杨万能;: "基于磁导引的履带式小车作物图像自动采集系统设计与试验", 华中农业大学学报, no. 02, 31 March 2020 (2020-03-31), pages 141 - 149 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE2351130A1 (en) * | 2023-09-29 | 2024-04-11 | Husqvarna Ab | A method for operating an autonomous robot |
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