CN114545944A - AGV course positioning navigation method based on magnetic nail magnetic field intensity correction - Google Patents
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Abstract
The invention discloses an AGV course positioning navigation method based on magnetic nail magnetic field intensity correction, which is characterized in that magnetic nails are arranged according to a certain distance according to path planning, a magnetic scale sensor is arranged in front of an AGV head, and an inertia measurement unit is horizontally laid in the AGV; then dividing the magnetic field intensity scanned by the magnetic sensor into regions along the longitudinal direction and the transverse direction of the vehicle body, and calibrating the magnetic field intensity level; and finally, measuring the angular speed and the speed of the vehicle by using an inertial sensor between the magnetic nails so as to predict the pose and realize vehicle control. The invention realizes high-precision positioning control by fusing inertial navigation control and magnetic nail navigation based on magnetic field intensity.
Description
Technical Field
The invention belongs to the field of positioning and navigation of automatic guided vehicles, and particularly relates to a method for acquiring higher positioning accuracy by analyzing the magnetic field intensity of magnetic nails when the position and orientation of an automatic guided vehicle are corrected by the magnetic nails.
Background
With the progress of science and technology, the physical manufacturing industry is gradually turning to intellectualization and unmanned, and an Automatic Guided Vehicle (AGV) is widely used in various industries as an intelligent industrial device. Navigation positioning technology is the basis of autonomous motion of the AGV, and at present, the main methods for navigation of the mobile robot include magnetic navigation, optical navigation, laser navigation, inertial navigation and the like. In the magnetic nail navigation application on the current market, the magnetic scale sensor can detect the magnetic field intensity when being close to the magnetic nail, and the center of the magnetic scale sensor does not actually reach the magnetic nail, so that if the magnetic nail is recognized by the vehicle body through judgment at the moment, the vehicle body reaches a preset position, obvious positioning errors obviously exist, and the development difficulty of control is increased.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the AGV course positioning navigation method based on magnetic field intensity correction of the magnetic nails, so that inertial navigation control and magnetic nail navigation based on magnetic field intensity can be fused to realize high-precision positioning, and the aim of enabling an automatic guidance vehicle to accurately reach a target position in practical application is fulfilled.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to an AGV course positioning navigation method based on magnetic nail magnetic field intensity correction, which is characterized in that the method is applied to a working scene that an AGV navigates according to a planned path, and magnetic nails are arranged on the planned path at certain intervals; the AGV is driven by adopting a double-wheel differential speed, a virtual front wheel is assumed to be arranged at the position of a vehicle head on a perpendicular bisector of a circle center connecting line of two differential wheels, a magnetic ruler sensor is arranged in front of the vehicle head of the AGV, and an inertia measuring unit is horizontally arranged in the AGV; the positioning navigation method comprises the following steps:
step 1: constructing a coordinate system by using the external rectangle of the working scene, and taking the anticlockwise direction with the x axis of the coordinate system as a reference as a positive direction;
defining and initializing a time k as 1; marking the centroid pose of an initial k moment in the coordinate system as (x)k,yk,θk) And as the starting point of the AGV on the planned path, wherein xkAnd ykRepresenting the position coordinate at time k in the coordinate system, thetakIs the direction of travel at time k;
setting the lowest magnetic field intensity triggered by the magnetic nail to be HminAnd dividing the magnetic field intensity in the vertical direction of the magnetic scale sensor into 2 levelsRange, first order range is Hmin—H1The second level range is H1—H2(ii) a Wherein H1Minimum magnetic field strength, H, to trigger AGV correction pose2Represents the maximum magnetic field strength detected by the magnetic nail;
step 2: setting the maximum value of the mass center speed of the AGV as vmaxThe AGV starts to travel forwards from a starting point according to a planned path at a fixed acceleration alpha, the k-time mass center speed v (k) of the AGV is calculated by v (k) ═ v (k-1) + alpha multiplied by delta T, and v (k) ≦ vmaxΔ T represents a unit sampling time interval between two adjacent time instants; when k is 1, the centroid speed v (k-1) of the starting point is made to be 0;
and step 3: judging whether a magnetic scale sensor on the AGV detects magnetic nails on the planned path at the moment k, if so, executing the step 4; otherwise, measuring the centroid angular velocity w (k) at the moment k by using inertial navigation, and executing the step 6;
and 4, step 4: judging whether the magnetic field intensity of the detected magnetic nail is within a first-level range, if so, indicating that the AGV normally runs according to the planned path without deviating navigation and correcting; and executing the step 6; otherwise, indicating that the detected magnetic field intensity of the magnetic nail is in a second-level range, obtaining an angle deviation phi (k) of the current vehicle head direction deviating from the planned route at the moment k by utilizing a PID algorithm according to the position deviation C (k) measured by the ruler sensor at the moment k, and executing the step 5;
and 5: calculating the mass center angular velocity W (k) of the AGV after being corrected at the moment k by using the formula (1) and assigning the mass center angular velocity W (k) to w (k):
W(k)＝v(k)×tan(φ(k))/L (1)
in the formula (1), L is the distance between the virtual front wheel and the middle line of the differential wheel;
step 6: obtaining the wheel speed V of the left differential wheel of the AGV by using the formula (2)L(k) Wheel speed V of right differential wheelR(k) And enabling the AGV to run on the planned path according to the calculated wheel speed:
in the formula (2), B is the distance between the left differential wheel and the right differential wheel, and M is the diameter of the differential wheel;
and 7: obtaining the wheel speed V fed back by the left differential wheel of the AGV at the k +1 moment through the feedback of the double-wheel differential driving motorL(k +1) and wheel speed V fed back by right differential wheelR(k +1), thereby calculating the mass center angular velocity w (k +1) and the mass center velocity v (k +1) of the AGV at the time k +1 by using the formula (3):
and 8: establishing an equation of motion of the AGV according to the formula (4), and obtaining a mass center pose X (k +1) of the AGV at the moment of k +1 as (X)k+1,yk+1,θk+1)T：
In formula (3), x (k) ═ xk,yk,θk)TThe mass center pose of the AGV at the k moment; d (k) is a displacement of the AGV on the straight line in the unit sampling time interval of the time k and the time k +1, and d (k) is v (k) × Δ T; δ (k) is an angular displacement of the AGV in a unit sampling time of k time and k +1 time, and δ (k) ═ w (k) × Δ T;
and step 9: and (4) after k +1 is assigned to k, returning to the step (3) until the position coordinate at the current moment reaches the target position.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the magnetic field intensity of the detected magnetic nail is analyzed, and the threshold range is defined by taking the maximum value of the magnetic field intensity as the center to divide the grade and the positioning correction area, so that the judgment condition of the positioning information is enhanced, the magnetic sensor can identify the magnetic nail more accurately, and the efficiency of accurate positioning is improved.
2. The invention defines the threshold range for the highest level to realize the adjustability of the positioning precision.
3. When the method is combined with inertial navigation, the accumulated error is corrected by positioning correction information with higher precision at the magnetic pin, so that an automatic guided vehicle can have a more accurate initial value to calculate the inertial navigation pose after driving away from the magnetic pin, and the unmanned robot navigation can obtain more accurate positioning information in engineering practice.
Drawings
FIG. 1 is a schematic view of magnetic nail scanning;
FIG. 2 is a diagram of the direction deviation and the left and right wheel speeds obtained by the magnetic nail correction of the present invention;
FIG. 3 is a schematic diagram of inertial navigation estimation.
Detailed Description
In this embodiment: an AGV course positioning navigation method based on magnetic nail magnetic field intensity correction is applied to a working scene that an AGV navigates according to a planned path, magnetic nails are arranged on the planned path according to a certain distance, other strong magnetic objects cannot be arranged around the planned path, and obstacles cannot be arranged on a moving path; the AGV adopts double-wheel differential driving, a virtual front wheel is assumed to be arranged at the position of a vehicle head on a perpendicular bisector of a line connecting circle centers of two differential wheels, a magnetic ruler sensor (the distance between the magnetic ruler sensor and the ground is not higher than 50mm) is arranged in front of the vehicle head of the AGV, a non-magnetic material is required to be used for a mounting plate, and the intensity of a background magnetic field is not higher than 1 Gauss; an inertia measurement unit is horizontally arranged in the AGV, and the following points are noted when the inertia sensor is installed:
first, to ensure that the sensor mounting surface is in close proximity to the surface being measured, the surface being measured is as level as possible. Secondly, the sensor bottom sideline and the axis of the measured object cannot form an included angle as shown in the E picture, and the sensor bottom sideline is kept parallel or orthogonal to the rotation axis of the measured object when the sensor bottom sideline and the measured object are installed. Finally, the mounting surface and the measured surface of the sensor must be fixed tightly, contact smoothly and rotate stably, and measurement errors caused by acceleration and vibration are avoided.
In this embodiment, the positioning and navigation method is performed as follows:
step 1: constructing a coordinate system by using an external rectangle of a working scene, and enabling a counterclockwise direction taking an x axis of the coordinate system as a reference to be a positive direction;
defining and initializing a time k as 1; marking the centroid pose of an initial k moment in a coordinate system as (x)k,yk,θk) And as the starting point of the AGV on the planned path, wherein xkAnd ykRepresenting the position coordinate at time k in the coordinate system, thetakIs the direction of travel at time k; in addition, the tasks to be executed are related to the positions marked in the coordinate system, and when the AGV enters the task point area, the corresponding tasks are executed;
the sensor adopts a magnetic scale sensor with 32 Hall detection points, the distance between the measurement points is 10mm, the detection height is 0-50mm, when the sensor is seen towards the front of an AGV, the number of the detection points from left to right is 1-32 in sequence, the detection precision is 1mm, the detection range is 0-320mm, the N pole or the S pole can be identified, 36 detection points respectively detect the current magnetic field intensity signal and output corresponding values, the data range of the magnetic field intensity detected at each position ranges from-2048 gauss to +2048 gauss, the N pole magnetic field signal is a negative value, and the S pole magnetic field signal is a positive value. The 36 detection points along the parallel direction of the sensor return corresponding magnetic field intensity when the magnetic nail is detected. As shown in fig. 1;
setting the lowest magnetic field intensity triggered by the magnetic nail to be HminAnd dividing the magnetic field intensity along the vertical direction of the magnetic scale sensor into 2 grade ranges, wherein the first grade range is Hmin—H1The second level range is H1—H2(ii) a Wherein H1Minimum magnetic field strength, H, to trigger AGV correction pose2Represents the maximum magnetic field strength detected by the magnetic nail;
step 2: setting the maximum value of the mass center speed of the AGV as vmaxThe AGV starts to travel forwards from a starting point according to a planned path at a fixed acceleration alpha, the k-time mass center speed v (k) of the AGV is calculated by v (k) ═ v (k-1) + alpha multiplied by delta T, and v (k) ≦ vmaxDelta T represents the unit sampling time interval between two adjacent moments; when k is 1, the centroid speed v (k-1) of the starting point is made to be 0;
and 3, step 3: judging whether a magnetic scale sensor on the AGV detects magnetic nails on the planned path at the moment k, if so, executing the step 4; otherwise, measuring the centroid angular velocity w (k) at the moment k by using inertial navigation, and executing the step 6;
and 4, step 4: judging whether the magnetic field intensity of the detected magnetic nail is within a first-level range, if so, indicating that the AGV normally runs according to the planned path without deviating navigation and correcting; and executing the step 6; otherwise, indicating that the detected magnetic field intensity of the magnetic nail is in a second-level range, obtaining an angle deviation phi (k) of the current vehicle head direction deviating from the planned route at the moment k by utilizing a PID algorithm according to the position deviation C (k) measured by the ruler sensor at the moment k, and executing the step 5;
and 5: as shown in fig. 2, where DirF is the virtual front wheel steering angle; the distance between the virtual front wheel and the middle line of the differential wheel; b is the distance between the left and right differential wheels; v1 is the longitudinal travel speed; v2 is normal velocity; v is the AGV center of mass velocity; w is AGV center of mass angular velocity; n1, w1 is the left wheel rotational linear and angular velocities; n2, w2 is the linear and angular velocity of the right wheel rotation;
calculating the mass center angular velocity W (k) of the AGV after correction at the moment k by using the formula (1) and assigning the mass center angular velocity W (k) to w (k):
W(k)＝v(k)×tan(φ(k))/L (1)
in the formula (1), L is the distance between the virtual front wheel and the middle line of the differential wheel;
and 6: obtaining the wheel speed V of the left differential wheel of the AGV by using the formula (2)L(k) And the wheel speed V of the right differential wheelR(k) And enabling the AGV to run on the planned path according to the calculated wheel speed:
in the formula (2), B is the distance between the left differential wheel and the right differential wheel, and M is the diameter of the differential wheel;
and 7: obtaining the wheel speed V fed back by the left differential wheel of the AGV at the k +1 moment through the feedback of the double-wheel differential driving motorL(k +1) and wheel speed V fed back by right differential wheelR(k +1), thereby calculating the mass center angular velocity w (k +1) and the mass center velocity v (k +1) of the AGV at the time k +1 by using the formula (3):
and 8: establishing an equation of motion of the AGV according to the formula (4), and obtaining a mass center pose X (k +1) of the AGV at the moment of k +1 as (X)k+1,yk+1,θk+1)T：
In formula (3), x (k) ═ xk,yk,θk)TThe mass center pose of the AGV at the k moment; d (k) is a displacement of the AGV on the straight line in the unit sampling time interval of the time k and the time k +1, and d (k) is v (k) × Δ T; δ (k) is an angular displacement of the AGV in a unit sampling time of k time and k +1 time, and δ (k) ═ w (k) × Δ T; as shown in fig. 3;
and step 9: calculating the linear distance between the real-time pose and the position of the task point according to the real-time pose obtained in the step 8, stopping to execute a corresponding task if the real-time pose enters a certain task point area, and returning to the step 2 after the task is finished; and if the current position coordinate does not reach the target position, assigning k +1 to k, and returning to the step 3 until the position coordinate at the current moment reaches the target position.
Claims (1)
1. An AGV course positioning navigation method based on magnetic nail magnetic field intensity correction is characterized in that the method is applied to a working scene that an AGV navigates according to a planned path, and magnetic nails are arranged on the planned path at a certain interval; the AGV is driven by adopting a double-wheel differential speed, a virtual front wheel is assumed to be arranged at the position of a vehicle head on a perpendicular bisector of a circle center connecting line of two differential wheels, a magnetic ruler sensor is arranged in front of the vehicle head of the AGV, and an inertia measuring unit is horizontally arranged in the AGV; the positioning navigation method comprises the following steps:
step 1: constructing a coordinate system by using the external rectangle of the working scene, and taking the anticlockwise direction with the x axis of the coordinate system as a reference as a positive direction;
defining and initializing a time k as 1; in thatMarking the centroid pose of an initial k moment in the coordinate system as (x)k,yk,θk) And as the starting point of the AGV on the planned path, wherein xkAnd ykRepresenting the position coordinate at time k in the coordinate system, thetakIs the direction of travel at time k;
setting the lowest magnetic field intensity triggered by the magnetic nail to be HminAnd dividing the magnetic field intensity along the vertical direction of the magnetic scale sensor into 2 grade ranges, wherein the first grade range is Hmin—H1The second level range is H1—H2(ii) a Wherein H1Minimum magnetic field strength, H, to trigger AGV correction pose2Represents the maximum magnetic field strength detected by the magnetic nail;
step 2: setting the maximum value of the mass center speed of the AGV as vmaxThe AGV starts to drive forwards from a starting point according to a planned path at a fixed acceleration alpha, the k-time mass center speed v (k) of the AGV is calculated according to v (k) ═ v (k-1) + alpha multiplied by delta T, and v (k) ≦ vmaxΔ T represents a unit sampling time interval between two adjacent time instants; when k is 1, the centroid speed v (k-1) of the starting point is made to be 0;
and step 3: judging whether a magnetic scale sensor on the AGV detects magnetic nails on the planned path at the moment k, if so, executing the step 4; otherwise, measuring the centroid angular velocity w (k) at the moment k by using inertial navigation, and executing the step 6;
and 4, step 4: judging whether the magnetic field intensity of the detected magnetic nail is within a first-level range, if so, indicating that the AGV normally runs according to the planned path without deviating navigation and correcting; and executing the step 6; otherwise, indicating that the detected magnetic field intensity of the magnetic nail is in a second-level range, obtaining an angle deviation phi (k) of the current vehicle head direction deviating from the planned route at the moment k by utilizing a PID algorithm according to the position deviation C (k) measured by the ruler sensor at the moment k, and executing the step 5;
and 5: calculating the mass center angular velocity W (k) of the AGV after correction at the moment k by using the formula (1) and assigning the mass center angular velocity W (k) to w (k):
W(k)＝v(k)×tan(φ(k))/L (1)
in the formula (1), L is the distance between the virtual front wheel and the middle line of the differential wheel;
step 6: obtaining the wheel speed V of the left differential wheel of the AGV by using the formula (2)L(k) And the wheel speed V of the right differential wheelR(k) And enabling the AGV to run on the planned path according to the calculated wheel speed:
in the formula (2), B is the distance between the left differential wheel and the right differential wheel, and M is the diameter of the differential wheel;
and 7: obtaining the wheel speed V fed back by the left differential wheel of the AGV at the k +1 moment through the feedback of the double-wheel differential driving motorL(k +1) and wheel speed V fed back by right differential wheelR(k +1), thereby calculating the mass center angular velocity w (k +1) and the mass center velocity v (k +1) of the AGV at the time k +1 by using the formula (3):
and 8: establishing an equation of motion of the AGV according to the formula (4), and obtaining a mass center pose X (k +1) of the AGV at the moment of k +1 as (X)k+1,yk+1,θk+1)T：
In formula (3), x (k) ═ xk,yk,θk)TThe mass center pose of the AGV at the k moment; d (k) is a displacement of the AGV on the straight line in the unit sampling time interval of the time k and the time k +1, and d (k) is v (k) × Δ T; δ (k) is an angular displacement of the AGV in a unit sampling time of k time and k +1 time, and δ (k) ═ w (k) × Δ T;
and step 9: and (5) after k +1 is assigned to k, returning to the step 3 until the position coordinate at the current moment reaches the target position.
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